Control of ad-hoc formations for autonomous airport snow shoveling
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00175772" target="_blank" >RIV/68407700:21230/10:00175772 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5650712&queryText%3DControl+of+ad-hoc+formations+for+autonomous+" target="_blank" >http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5650712&queryText%3DControl+of+ad-hoc+formations+for+autonomous+</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2010.5650712" target="_blank" >10.1109/IROS.2010.5650712</a>
Alternative languages
Result language
angličtina
Original language name
Control of ad-hoc formations for autonomous airport snow shoveling
Original language description
In this paper, we present a framework that applies multiple groups of autonomous snowploughs for efficiently removing the snow from airfields. The proposed approach includes formation stabilization into variable shapes depending on the width of runways.The paper is focused on trajectory planning and control during splitting and coupling of formations for cleaning smaller auxiliary roads surrounding main runways. We propose a general method using a receding horizon control for iterative formation assignment. The algorithm is adapted for the kinematics of car-like robots and can be utilized in arbitrary static and dynamic airport assemblage. The proposed approach has been verified by simulations and by hardware experiments.
Czech name
—
Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
—
Result continuities
Project
<a href="/en/project/2C06005" target="_blank" >2C06005: A System for robotic e-learning</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>Z - Vyzkumny zamer (s odkazem do CEZ)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
ISBN
978-1-4244-6675-7
ISSN
2153-0858
e-ISSN
—
Number of pages
6
Pages from-to
4995-5000
Publisher name
IEEE Industrial Electronics Society
Place of publication
Taipei
Event location
Taipei
Event date
Oct 18, 2010
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000287672000119