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A constraint-based approach for multiple non-holonomic vehicle coordination in industrial scenarios
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-9652-7864
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
2012 (engelsk)Inngår i: ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, 2012, s. 45-52Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
2012. s. 45-52
Emneord [en]
Multi vehicle coordination, non-holonomic path planning, constraint reasoning
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-23231OAI: oai:DiVA.org:oru-23231DiVA, id: diva2:530737
Konferanse
ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, Atibadia, São Paulo, Brazil
Prosjekter
SAUNATilgjengelig fra: 2012-06-05 Laget: 2012-06-04 Sist oppdatert: 2019-10-04bibliografisk kontrollert

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Pecora, FedericoCirillo, Marcello

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