Locally-optimal Multi-robot Navigation Under Delaying Disturbances Using Homotopy Constraints

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00318746" target="_blank" >RIV/68407700:21230/18:00318746 - isvavai.cz</a>

Výsledek na webu

<a href="https://link.springer.com/article/10.1007/s10514-017-9673-6#enumeration" target="_blank" >https://link.springer.com/article/10.1007/s10514-017-9673-6#enumeration</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10514-017-9673-6" target="_blank" >10.1007/s10514-017-9673-6</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Locally-optimal Multi-robot Navigation Under Delaying Disturbances Using Homotopy Constraints

Popis výsledku v původním jazyce

We study the problem of reliable motion coordination strategies for teams of mobile robots when any of the robots can be temporarily stopped by an exogenous disturbance at any time. We assume that an arbitrary multi-robot planner initially provides coordinated trajectories computed without considering such disturbances. We are interested in designing a control strategy that handles delaying disturbance such that collisions and deadlocks are provably avoided, and the travel time is minimized. The problem is analyzed in a coordination space framework, in which each dimension represents the position of a single robot along its planned trajectory. We demonstrate that to avoid deadlocks, the trajectory of the system in the coordination space must be homotopic to the trajectory corresponding to the planned solution. We propose a controller that abides this homotopy constraint while minimizing the travel time. Besides being provably deadlock-free, our experiments show that travel time is significantly smaller with our method than than with a reactive method.

Název v anglickém jazyce

Locally-optimal Multi-robot Navigation Under Delaying Disturbances Using Homotopy Constraints

Popis výsledku anglicky

We study the problem of reliable motion coordination strategies for teams of mobile robots when any of the robots can be temporarily stopped by an exogenous disturbance at any time. We assume that an arbitrary multi-robot planner initially provides coordinated trajectories computed without considering such disturbances. We are interested in designing a control strategy that handles delaying disturbance such that collisions and deadlocks are provably avoided, and the travel time is minimized. The problem is analyzed in a coordination space framework, in which each dimension represents the position of a single robot along its planned trajectory. We demonstrate that to avoid deadlocks, the trajectory of the system in the coordination space must be homotopic to the trajectory corresponding to the planned solution. We propose a controller that abides this homotopy constraint while minimizing the travel time. Besides being provably deadlock-free, our experiments show that travel time is significantly smaller with our method than than with a reactive method.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20201 - Electrical and electronic engineering

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název periodika

Autonomous Robots

ISSN

0929-5593

e-ISSN

1573-7527

Svazek periodika

42

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

13

Strana od-do

895-907

Kód UT WoS článku

000427378300011

EID výsledku v databázi Scopus

2-s2.0-85038094950