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A constraint-based approach for multiple non-holonomic vehicle coordination in industrial scenarios
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-9652-7864
Örebro University, School of Science and Technology. (AASS)
2012 (English)In: ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, 2012, 45-52 p.Conference paper, Oral presentation only (Refereed)
Abstract [en]

Autonomous vehicles are already widely used in industrial logisticsettings. However,  applications still lack flexibility, andmany steps of the deployment process are hand-crafted byspecialists. Here, we preset a new, modular paradigm whichcan fully solve logistic problems for AGVs, from high-leveltask planning to vehicle control. In particular, we focus ona new method for multi-robot coordination which does notrely on pre-defined traffic rules and in which feasible andcollision-free trajectories are calculated for every vehicle accordingto mission specifications. Also, our solutions canbe adapted on-line to exogenous events, control failures, orchanges in mission requirements.

Place, publisher, year, edition, pages
2012. 45-52 p.
Keyword [en]
Multi vehicle coordination, non-holonomic path planning, constraint reasoning
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-23231OAI: oai:DiVA.org:oru-23231DiVA: diva2:530737
Conference
ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, Atibadia, São Paulo, Brazil
Projects
SAUNA
Available from: 2012-06-05 Created: 2012-06-04 Last updated: 2017-10-17Bibliographically approved

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fulltext(397 kB)215 downloads
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Type fulltextMimetype application/pdf

Authority records BETA

Pecora, FedericoCirillo, Marcello

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf