Asynchronous decentralized prioritized planning for coordination in multi-robot system
Identifikátory výsledku
Kód výsledku v 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>
Výsledek na webu
<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>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Asynchronous decentralized prioritized planning for coordination in multi-robot system
Popis výsledku v původním jazyce
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
Název v anglickém jazyce
Asynchronous decentralized prioritized planning for coordination in multi-robot system
Popis výsledku anglicky
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
Klasifikace
Druh
O - Ostatní výsledky
CEP obor
JC - Počítačový hardware a software
OECD FORD obor
—
Návaznosti výsledku
Projekt
Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2013
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů