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On mission-dependent coordination of multiple vehicles under spatial and temporal constraints
Örebro University, School of Science and Technology. (Center for Applied Autonomous Sensor Systems, AASS)ORCID iD: 0000-0002-9652-7864
Örebro University, School of Science and Technology. (Center for Applied Autonomous Sensor Systems, AASS)
Örebro University, School of Science and Technology. (Center for Applied Autonomous Sensor Systems, AASS)
2012 (English)In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2012, 5262-5269 p.Conference paper, Published paper (Refereed)
Abstract [en]

Coordinating multiple autonomous ground vehicles is paramount to many industrial applications. Vehicle trajectories must take into account temporal and spatial requirements, e : g :; usage of floor space and deadlines on task execution. In this paper we present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which satisfy these requirements and are conflict-free. The approach consists of multiple constraint solvers which progressively refine trajectory envelopes according to mission requirements. The approach leverages the notion of least commitment to obtain easily revisable trajectories for execution.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2012. 5262-5269 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Robotics
Research subject
Computer Science; Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-24156ISI: 000317042705135Scopus ID: 2-s2.0-84872294137ISBN: 978-1-4673-1737-5 (print)OAI: oai:DiVA.org:oru-24156DiVA: diva2:541663
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura-Algarve, Portugal, October 7-12, 2012
Projects
KKS Project SAUNA (Safe Autonomous Navigation)
Funder
Knowledge Foundation
Available from: 2012-07-21 Created: 2012-07-21 Last updated: 2017-10-18Bibliographically approved

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Pecora, FedericoCirillo, MarcelloDimitrov, Dimitar

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CiteExportLink to record
Permanent link

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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