Provably safe and deadlock-free execution of multi-robot plans under delaying disturbances

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00306890" target="_blank" >RIV/68407700:21230/16:00306890 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/document/7759750/" target="_blank" >http://ieeexplore.ieee.org/document/7759750/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS.2016.7759750" target="_blank" >10.1109/IROS.2016.7759750</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Provably safe and deadlock-free execution of multi-robot plans under delaying disturbances

Popis výsledku v původním jazyce

One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to temporarily stop and delay its advancement along its planned trajectory which can be used to model, e.g., passing-by humans for whom the robots have to yield. Although reactive collision-avoidance methods are often used in this context, they may lead to deadlocks between robots. We design a multi-robot control strategy for executing coordinated trajectories computed by a multi-robot trajectory planner and give a proof that the strategy is safe and deadlock-free even when robots are subject to delaying disturbances. Our simulations show that the proposed strategy scales significantly better with the intensity of disturbances than the naive liveness-preserving approach. The empirical results further confirm that the proposed approach is more reliable and also more efficient than state-of-the-art reactive techniques.

Název v anglickém jazyce

Provably safe and deadlock-free execution of multi-robot plans under delaying disturbances

Popis výsledku anglicky

One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to temporarily stop and delay its advancement along its planned trajectory which can be used to model, e.g., passing-by humans for whom the robots have to yield. Although reactive collision-avoidance methods are often used in this context, they may lead to deadlocks between robots. We design a multi-robot control strategy for executing coordinated trajectories computed by a multi-robot trajectory planner and give a proof that the strategy is safe and deadlock-free even when robots are subject to delaying disturbances. Our simulations show that the proposed strategy scales significantly better with the intensity of disturbances than the naive liveness-preserving approach. The empirical results further confirm that the proposed approach is more reliable and also more efficient than state-of-the-art reactive techniques.

Druh

D - Stať ve sborníku

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název statě ve sborníku

Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on

ISBN

978-1-5090-3762-9

ISSN

2153-0866

e-ISSN

—

Počet stran výsledku

6

Strana od-do

5113-5118

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Daejeon

Datum konání akce

9. 10. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000391921705021