Sequential path planning for a formation of mobile robots with split and merge
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F17%3A00319123" target="_blank" >RIV/68407700:21730/17:00319123 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/8285722/" target="_blank" >http://ieeexplore.ieee.org/document/8285722/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LA-CCI.2017.8285722" target="_blank" >10.1109/LA-CCI.2017.8285722</a>
Alternative languages
Result language
angličtina
Original language name
Sequential path planning for a formation of mobile robots with split and merge
Original language description
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The key part of the solution works on a graph and sequentially employs an extended version of Dijkstra's graph-based algorithm for multiple robots. It is thus deterministic, complete, computationally inexpensive, and finds a solution for a fixed source node to other node in the graph. Moreover, the presented solution is general enough to be incorporated into high-level tasks like cooperative surveillance and it can benefit from state-of-the-art formation motion planning approaches, which can be used for evaluation of edges of an input graph. The performed experimental results demonstrate behavior of the method in complex environments for formations consisting of tens of robots.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
R - Projekt Ramcoveho programu EK
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2017 IEEE Latin American Conference on Computational Intelligence (LA-CCI)
ISBN
978-1-5386-3734-0
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
IEEE
Place of publication
New Jersey
Event location
Arequipa
Event date
Nov 8, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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