Locally-optimal Multi-robot Navigation Under Delaying Disturbances Using Homotopy Constraints
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00318746" target="_blank" >RIV/68407700:21230/18:00318746 - isvavai.cz</a>
Result on the web
<a href="https://link.springer.com/article/10.1007/s10514-017-9673-6#enumeration" target="_blank" >https://link.springer.com/article/10.1007/s10514-017-9673-6#enumeration</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10514-017-9673-6" target="_blank" >10.1007/s10514-017-9673-6</a>
Alternative languages
Result language
angličtina
Original language name
Locally-optimal Multi-robot Navigation Under Delaying Disturbances Using Homotopy Constraints
Original language description
We study the problem of reliable motion coordination strategies for teams of mobile robots when any of the robots can be temporarily stopped by an exogenous disturbance at any time. We assume that an arbitrary multi-robot planner initially provides coordinated trajectories computed without considering such disturbances. We are interested in designing a control strategy that handles delaying disturbance such that collisions and deadlocks are provably avoided, and the travel time is minimized. The problem is analyzed in a coordination space framework, in which each dimension represents the position of a single robot along its planned trajectory. We demonstrate that to avoid deadlocks, the trajectory of the system in the coordination space must be homotopic to the trajectory corresponding to the planned solution. We propose a controller that abides this homotopy constraint while minimizing the travel time. Besides being provably deadlock-free, our experiments show that travel time is significantly smaller with our method than than with a reactive method.
Czech name
—
Czech description
—
Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20201 - Electrical and electronic engineering
Result continuities
Project
—
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Autonomous Robots
ISSN
0929-5593
e-ISSN
1573-7527
Volume of the periodical
42
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
13
Pages from-to
895-907
UT code for WoS article
000427378300011
EID of the result in the Scopus database
2-s2.0-85038094950