oru.sePublikationer
Change search
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
A lattice-based approach to multi-robot motion planning for non-holonomic vehicles
Örebro University, School of Science and Technology. (AASS)
Department of Computer Science, University of Southern California, USA.
Department of Computer Science, University of Southern California, USA.
2014 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, 232-239 p.Conference paper, Published paper (Refereed)
Abstract [en]

Coordinating fleets of autonomous, non-holonomic vehicles is paramount to many industrial applications. While there exists solutions to efficiently calculate trajectories for individual vehicles, an effective methodology to coordinate their motions and to avoid deadlocks is still missing. Decoupled approaches, where motions are calculated independently for each vehicle and then centrally coordinated for execution, have the means to identify deadlocks, but not to solve all of them. We present a novel approach that overcomes this limitation and that can be used to complement the deficiencies of decoupled solutions with centralized coordination. Here, we formally define an extension of the framework of lattice-based motion planning to multi-robot systems and we validate it experimentally. Our approach can jointly plan for multiple vehicles and it generates kinematically feasible and deadlock-free motions.

Place, publisher, year, edition, pages
2014. 232-239 p.
Series
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems, ISSN 2153-0866
Keyword [en]
Multi-robot coordination, non-holonomic motion planning
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-37754DOI: 10.1109/IROS.2014.6942566ISI: 000349834600035Scopus ID: 2-s2.0-84911482320ISBN: 978-1-4799-6934-0 (print)OAI: oai:DiVA.org:oru-37754DiVA: diva2:755511
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014
Projects
"Safe Autonomous Navigation" (SAUNA)
Funder
Knowledge Foundation
Available from: 2014-10-14 Created: 2014-10-14 Last updated: 2017-10-17Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopusPDF

Authority records BETA

Cirillo, Marcello

Search in DiVA

By author/editor
Cirillo, Marcello
By organisation
School of Science and Technology
Robotics

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 209 hits
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