Provably safe and deadlock-free execution of multi-robot plans under delaying disturbances
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00306890" target="_blank" >RIV/68407700:21230/16:00306890 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/7759750/" target="_blank" >http://ieeexplore.ieee.org/document/7759750/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2016.7759750" target="_blank" >10.1109/IROS.2016.7759750</a>
Alternative languages
Result language
angličtina
Original language name
Provably safe and deadlock-free execution of multi-robot plans under delaying disturbances
Original language description
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to temporarily stop and delay its advancement along its planned trajectory which can be used to model, e.g., passing-by humans for whom the robots have to yield. Although reactive collision-avoidance methods are often used in this context, they may lead to deadlocks between robots. We design a multi-robot control strategy for executing coordinated trajectories computed by a multi-robot trajectory planner and give a proof that the strategy is safe and deadlock-free even when robots are subject to delaying disturbances. Our simulations show that the proposed strategy scales significantly better with the intensity of disturbances than the naive liveness-preserving approach. The empirical results further confirm that the proposed approach is more reliable and also more efficient than state-of-the-art reactive techniques.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Result continuities
Project
—
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on
ISBN
978-1-5090-3762-9
ISSN
2153-0866
e-ISSN
—
Number of pages
6
Pages from-to
5113-5118
Publisher name
IEEE
Place of publication
Piscataway
Event location
Daejeon
Event date
Oct 9, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000391921705021