Application of Coordinated Multi-Vehicle Formations for Snow Shoveling on Airports

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F09%3A00160054" target="_blank" >RIV/68407700:21230/09:00160054 - isvavai.cz</a>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Application of Coordinated Multi-Vehicle Formations for Snow Shoveling on Airports

Popis výsledku v původním jazyce

In this paper, we present a framework that applies multiple groups of autonomous snowplow robots for efficiently removing the snow from airfields. The main idea is to form temporary coalitions of vehicles, whose size depends on the width of the roads toclean. The robots of a coalition then arrange in formation and accomplish assigned sweeping tasks. In the paper the problem of snow shoveling is divided into the subproblems of task allocation and motion coordination. For the task allocation we propose amulti-agent method designed for the dynamic environment of airports. The motion coordination part focuses on generating trajectories for the vehicle formations based on the output of the task allocation module. Furthermore a specific feedback controlleris introduced that achieves optimal breadthwise road coverage even in sharp turns. All components as well as the complete system have been verified in various simulations.

Název v anglickém jazyce

Application of Coordinated Multi-Vehicle Formations for Snow Shoveling on Airports

Popis výsledku anglicky

In this paper, we present a framework that applies multiple groups of autonomous snowplow robots for efficiently removing the snow from airfields. The main idea is to form temporary coalitions of vehicles, whose size depends on the width of the roads toclean. The robots of a coalition then arrange in formation and accomplish assigned sweeping tasks. In the paper the problem of snow shoveling is divided into the subproblems of task allocation and motion coordination. For the task allocation we propose amulti-agent method designed for the dynamic environment of airports. The motion coordination part focuses on generating trajectories for the vehicle formations based on the output of the task allocation module. Furthermore a specific feedback controlleris introduced that achieves optimal breadthwise road coverage even in sharp turns. All components as well as the complete system have been verified in various simulations.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

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Projekt

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Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2009

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Intelligent Service Robotics

ISSN

1861-2776

e-ISSN

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Svazek periodika

2

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

DE - Spolková republika Německo

Počet stran výsledku

13

Strana od-do

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Kód UT WoS článku

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EID výsledku v databázi Scopus

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