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Integrated Motion Planning and Coordination for Industrial Vehicles
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-9652-7864
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS)ORCID-id: 0000-0002-2953-1564
Department of Computer Science, University of Southern California, Los Angeles, USA.
Vise andre og tillknytning
2014 (engelsk)Inngår i: Proceedings of the 24th International Conference on Automated Planning and Scheduling, AAAI Press, 2014Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A growing interest in the industrial sector for autonomous ground vehicles has prompted significant investment in fleet management systems. Such systems need to accommodate on-line externally imposed temporal and spatial requirements, and to adhere to them even in the presence of contingencies. Moreover, a fleet management system should ensure correctness, i.e., refuse to commit to requirements that cannot be satisfied. We present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which provide these guarantees. The approach relies on a constraint-based representation shared among multiple solvers, each of which progressively refines trajectory envelopes following a least commitment principle.

sted, utgiver, år, opplag, sider
AAAI Press, 2014.
Emneord [en]
multi-robot coordination, non-holonomic motion planning, scheduling
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-37753ISBN: 978-1-57735-660-8 (tryckt)OAI: oai:DiVA.org:oru-37753DiVA, id: diva2:755510
Konferanse
International Conference on Automated Planning and Scheduling (ICAPS)
Prosjekter
“Safe Autonomous Navigation” (SAUNA)
Forskningsfinansiär
Knowledge FoundationTilgjengelig fra: 2014-10-14 Laget: 2014-10-14 Sist oppdatert: 2019-04-09bibliografisk kontrollert

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Cirillo, MarcelloPecora, FedericoAndreasson, Henrik

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