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On mission-dependent coordination of multiple vehicles under spatial and temporal constraints
Örebro universitet, Institutionen för naturvetenskap och teknik. (Center for Applied Autonomous Sensor Systems, AASS)ORCID-id: 0000-0002-9652-7864
Örebro universitet, Institutionen för naturvetenskap och teknik. (Center for Applied Autonomous Sensor Systems, AASS)
Örebro universitet, Institutionen för naturvetenskap och teknik. (Center for Applied Autonomous Sensor Systems, AASS)
2012 (engelsk)Inngår i: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2012, s. 5262-5269Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2012. s. 5262-5269
Serie
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
HSV kategori
Forskningsprogram
Datavetenskap; Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-24156ISI: 000317042705135Scopus ID: 2-s2.0-84872294137ISBN: 978-1-4673-1737-5 (tryckt)OAI: oai:DiVA.org:oru-24156DiVA, id: diva2:541663
Konferanse
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura-Algarve, Portugal, October 7-12, 2012
Prosjekter
KKS Project SAUNA (Safe Autonomous Navigation)
Forskningsfinansiär
Knowledge FoundationTilgjengelig fra: 2012-07-21 Laget: 2012-07-21 Sist oppdatert: 2017-10-18bibliografisk kontrollert

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Pecora, FedericoCirillo, MarcelloDimitrov, Dimitar

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