Asynchronous decentralized prioritized planning for coordination in multi-robot system
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00211547" target="_blank" >RIV/68407700:21230/13:00211547 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6696903" target="_blank" >http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6696903</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2013.6696903" target="_blank" >10.1109/IROS.2013.6696903</a>
Alternative languages
Result language
angličtina
Original language name
Asynchronous decentralized prioritized planning for coordination in multi-robot system
Original language description
In this paper, the multi-robot motion coordination planning problem is addressed. Although a centralized prioritized planning strategy can be used to solve the problem, we rather consider a decentralized variant, which is a more suitable for a robotic system of cooperating unmanned aerial vehicles (UAVs) due to communication limitations, privacy concerns, and a better exploitation of computational resources distributed among the individual robots. However, the existing decentralized prioritized planningalgorithm contains synchronization points that all the agents must be able to pass synchronously, which is impractical and inefficient for a real-world deployment of the robotic systems. Therefore, we introduce a new asynchronous decentralized prioritized planning algorithm and show that the method can converge faster than both the synchronous decentralized and centralized algorithms. Further, we demonstrate the applicability of the proposed method as a coordination mechanism within a c
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů