The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Coordination of Multiple Robots with Assigned Paths

Roberto Olmi
University of Modena and Reggio Emilia
Italy

Cristian Secchi
University of Modena and Reggio Emilia
Italy

Cesare Fantuzzi
University of Modena and Reggio Emilia
Italy

Abstract:
This paper describes a method for coordinating the motions of a group of robots following predefined paths in a common workspace.
Coordination Diagrams (CD) are used for representing the possible collisions among the robots.
We propose an algorithm that computes a complete coordination plan for the overall missions that each vehicle has to execute. The algorithm generates a set of possible coordination plans and then gives the optimal one.
Previous works apply traditional path planning techniques (such as D* or A*) to compute a coordinated motion. However these techniques do not take into account the fact that the CD has a cylindrical structure. This features enables our algorithm to explore the CD in a more efficient way.

 

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