oru.sePublications
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
Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-7289-8292
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-4527-7586
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-9652-7864
2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 7940-7946Conference paper, Published paper (Refereed)
Abstract [en]

This paper is concerned with automating fleets of autonomous robots. This involves solving a multitude of problems, including goal assignment, motion planning, and coordination, while maximizing some performance criterion. While methods for solving these sub-problems have been studied, they address only a facet of the overall problem, and make strong assumptions on the use-case, on the environment, or on the robots in the fleet. In this paper, we formulate the overall fleet management problem in terms of Optimal Control. We describe a scheme for solving this problem in the particular case of fleets of non-holonomic robots navigating in an environment with obstacles. The method is based on a two-phase approach, whereby the first phase solves for fleet-wide boolean decision variables via Mixed Integer Quadratic Programming, and the second phase solves for real-valued variables to obtain an optimized set of trajectories for the fleet. Examples showcasing the features of the method are illustrated, and the method is validated experimentally.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 7940-7946
Keywords [en]
Multi robot motion planning
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:oru:diva-71289DOI: 10.1109/IROS.2018.8594118OAI: oai:DiVA.org:oru-71289DiVA, id: diva2:1277060
Conference
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 1-5, 2018, Madrid, Spain,
Projects
ILIADAvailable from: 2019-01-09 Created: 2019-01-09 Last updated: 2019-01-11Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records BETA

Salvado, JoãoKrug, RobertMansouri, MasoumehPecora, Federico

Search in DiVA

By author/editor
Salvado, JoãoKrug, RobertMansouri, MasoumehPecora, Federico
By organisation
School of Science and Technology
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 10 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