Roads Sweeping by Unmanned Multi-vehicle Formations

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00184238" target="_blank" >RIV/68407700:21230/11:00184238 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Roads Sweeping by Unmanned Multi-vehicle Formations
Original language description
A system for autonomous roads sweeping by applying formations of mobile robots is presented in this paper. The proposed approach based on Receding Horizon Control solves the formation navigation, planning and stabilization in real-world environments withstatic and dynamic obstacles. The formations employed for sweeping are built up ad-hoc, taking into account length of robots' effectors (e.g. shovels, sweepers) and width of the working area. Presented method enables to smoothly merge smaller teams withthe view of sweeping the larger roads (e.g. runways, highways). The formations can operate in two modes: sweeping and moving. In the sweeping mode, the formations are guided with an aim to effectively cover the cleaning roads, while in the moving mode,the planning system emphasizes the effort to reach a desired target. Furthermore, the moving mode enables to autonomously design complex formation maneuvers, as is reverse driving or turning on spot.
Czech name
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Czech description
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Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
ICRA2011: Proceedings of 2011 IEEE International Conference on Robotics and Automation
ISBN
978-1-61284-386-5
ISSN
1050-4729
e-ISSN
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Number of pages
6
Pages from-to
631-636
Publisher name
Omnipress
Place of publication
Madison
Event location
Shanghai
Event date
May 9, 2011
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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