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A lattice-based approach to multi-robot motion planning for non-holonomic vehicles
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
Department of Computer Science, University of Southern California, Los Angeles, USA.
Department of Computer Science, University of Southern California, Los Angeles, USA.
2014 (engelsk)Inngår i: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, s. 232-239Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
2014. s. 232-239
Serie
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems, ISSN 2153-0866
Emneord [en]
Multi-robot coordination, non-holonomic motion planning
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-37754DOI: 10.1109/IROS.2014.6942566ISI: 000349834600035Scopus ID: 2-s2.0-84911482320ISBN: 978-1-4799-6934-0 (tryckt)OAI: oai:DiVA.org:oru-37754DiVA, id: diva2:755511
Konferanse
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, USA, September 14-18, 2014
Prosjekter
"Safe Autonomous Navigation" (SAUNA)
Forskningsfinansiär
Knowledge FoundationTilgjengelig fra: 2014-10-14 Laget: 2014-10-14 Sist oppdatert: 2018-09-12bibliografisk kontrollert

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