On Randomized Searching for Multi-robot Coordination

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00335203" target="_blank" >RIV/68407700:21230/20:00335203 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21730/20:00335203

Výsledek na webu

<a href="https://doi.org/10.1007/978-3-030-31993-9_18" target="_blank" >https://doi.org/10.1007/978-3-030-31993-9_18</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-31993-9_18" target="_blank" >10.1007/978-3-030-31993-9_18</a>

Jazyk výsledku

angličtina

Název v původním jazyce

On Randomized Searching for Multi-robot Coordination

Popis výsledku v původním jazyce

In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several decades, and many approaches have been introduced. However, only a small minority is applicable in practice because of their properties - small computational requirement, producing solutions near-optimum, and completeness. The approach we present is based on a multi-robot variant of Rapidly Exploring Random Tree algorithm (RRT) for discrete environments and significantly improves its performance. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in [23], it solves problems where ter Morses algorithm fails.

Název v anglickém jazyce

On Randomized Searching for Multi-robot Coordination

Popis výsledku anglicky

In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several decades, and many approaches have been introduced. However, only a small minority is applicable in practice because of their properties - small computational requirement, producing solutions near-optimum, and completeness. The approach we present is based on a multi-robot variant of Rapidly Exploring Random Tree algorithm (RRT) for discrete environments and significantly improves its performance. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in [23], it solves problems where ter Morses algorithm fails.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</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

2020

Kód důvěrnosti údajů

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

Název statě ve sborníku

Informatics in Control, Automation and Robotics

ISBN

978-3-030-31992-2

ISSN

1876-1100

e-ISSN

1876-1119

Počet stran výsledku

20

Strana od-do

364-383

Název nakladatele

Springer

Místo vydání

Cham

Místo konání akce

Porto

Datum konání akce

29. 7. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000612994900018