Prioritized Planning Algorithms for Trajectory Coordination of Multiple Mobile Robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00233767" target="_blank" >RIV/68407700:21230/15:00233767 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7138650" target="_blank" >http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7138650</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TASE.2015.2445780" target="_blank" >10.1109/TASE.2015.2445780</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Prioritized Planning Algorithms for Trajectory Coordination of Multiple Mobile Robots

Popis výsledku v původním jazyce

In autonomous multirobot systems one of the concerns is how to prevent collisions between the individual robots. One approach to this problem involves finding coordinated trajectories from start to destination for all the robots and then letting the robots follow the preplanned coordinated trajectories. A widely used practical method for finding such coordinated trajectories is ?classical? prioritized planning, where robots plan sequentially one after another. This method has been shown to be effectivein practice, but it is incomplete (i.e., there are solvable problem instances that the algorithm fails to solve) and it has not yet been formally analyzed under what circumstances is the method guaranteed to succeed. Further, prioritized planning is a centralized algorithm, which makes the method unsuitable for decentralized multirobot systems. The contributions of this paper are: a) an adapted version of classical prioritized planning called revised prioritized planning with a formal ch

Název v anglickém jazyce

Prioritized Planning Algorithms for Trajectory Coordination of Multiple Mobile Robots

Popis výsledku anglicky

In autonomous multirobot systems one of the concerns is how to prevent collisions between the individual robots. One approach to this problem involves finding coordinated trajectories from start to destination for all the robots and then letting the robots follow the preplanned coordinated trajectories. A widely used practical method for finding such coordinated trajectories is ?classical? prioritized planning, where robots plan sequentially one after another. This method has been shown to be effectivein practice, but it is incomplete (i.e., there are solvable problem instances that the algorithm fails to solve) and it has not yet been formally analyzed under what circumstances is the method guaranteed to succeed. Further, prioritized planning is a centralized algorithm, which makes the method unsuitable for decentralized multirobot systems. The contributions of this paper are: a) an adapted version of classical prioritized planning called revised prioritized planning with a formal ch

Druh

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

CEP obor

IN - Informatika

OECD FORD obor

—

Projekt

<a href="/cs/project/GA13-22125S" target="_blank" >GA13-22125S: Deterministické doménově nezávislé multi-agentní plánování</a><br>

Návaznosti

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 periodika

IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING

ISSN

1545-5955

e-ISSN

—

Svazek periodika

12/3

Číslo periodika v rámci svazku

June

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

15

Strana od-do

835-849

Kód UT WoS článku

000358585200007

EID výsledku v databázi Scopus

2-s2.0-84937717971