Complete Decentralized Method for On-Line Multi-Robot Trajectory Planning in Valid Infrastructures

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00225909" target="_blank" >RIV/68407700:21230/15:00225909 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.aaai.org/ocs/index.php/ICAPS/ICAPS15/paper/view/10504" target="_blank" >http://www.aaai.org/ocs/index.php/ICAPS/ICAPS15/paper/view/10504</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Complete Decentralized Method for On-Line Multi-Robot Trajectory Planning in Valid Infrastructures

Popis výsledku v původním jazyce

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the problem of finding a trajectory for each such relocation task that avoids collisions with other robots. The chosen robot plans its trajectory so as to avoid collision with other robots executing tasks that were issued earlier. We prove that if all possible destinations of the relocation tasks satisfy so-called valid infrastructure property, then this mechanism is guaranteed to always succeed and provide a trajectory for the robot that reaches the destination without colliding with any other robot. The time-complexity of the approach on a fixed space-time discretization is only quadratic in the number of robots. We demonstrate the applicability of the presented method on several real-world maps and compare its performance against a popular reactive a

Název v anglickém jazyce

Complete Decentralized Method for On-Line Multi-Robot Trajectory Planning in Valid Infrastructures

Popis výsledku anglicky

We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the problem of finding a trajectory for each such relocation task that avoids collisions with other robots. The chosen robot plans its trajectory so as to avoid collision with other robots executing tasks that were issued earlier. We prove that if all possible destinations of the relocation tasks satisfy so-called valid infrastructure property, then this mechanism is guaranteed to always succeed and provide a trajectory for the robot that reaches the destination without colliding with any other robot. The time-complexity of the approach on a fixed space-time discretization is only quadratic in the number of robots. We demonstrate the applicability of the presented method on several real-world maps and compare its performance against a popular reactive a

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

<a href="/cs/project/LD12044" target="_blank" >LD12044: Agentní algoritmy pro autonomní podpůrné systémy v pozemní dopravě</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2015

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of 25th International Conference on Automated Planning and Scheduling 2015

ISBN

978-1-57735-731-5

ISSN

2334-0835

e-ISSN

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Počet stran výsledku

9

Strana od-do

324-332

Název nakladatele

AAAI Press

Místo vydání

Menlo Park, California

Místo konání akce

Jerusalem

Datum konání akce

7. 6. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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