Sequential path planning for a formation of mobile robots with split and merge

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F17%3A00319123" target="_blank" >RIV/68407700:21730/17:00319123 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/document/8285722/" target="_blank" >http://ieeexplore.ieee.org/document/8285722/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LA-CCI.2017.8285722" target="_blank" >10.1109/LA-CCI.2017.8285722</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Sequential path planning for a formation of mobile robots with split and merge

Popis výsledku v původním jazyce

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The key part of the solution works on a graph and sequentially employs an extended version of Dijkstra's graph-based algorithm for multiple robots. It is thus deterministic, complete, computationally inexpensive, and finds a solution for a fixed source node to other node in the graph. Moreover, the presented solution is general enough to be incorporated into high-level tasks like cooperative surveillance and it can benefit from state-of-the-art formation motion planning approaches, which can be used for evaluation of edges of an input graph. The performed experimental results demonstrate behavior of the method in complex environments for formations consisting of tens of robots.

Název v anglickém jazyce

Sequential path planning for a formation of mobile robots with split and merge

Popis výsledku anglicky

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The key part of the solution works on a graph and sequentially employs an extended version of Dijkstra's graph-based algorithm for multiple robots. It is thus deterministic, complete, computationally inexpensive, and finds a solution for a fixed source node to other node in the graph. Moreover, the presented solution is general enough to be incorporated into high-level tasks like cooperative surveillance and it can benefit from state-of-the-art formation motion planning approaches, which can be used for evaluation of edges of an input graph. The performed experimental results demonstrate behavior of the method in complex environments for formations consisting of tens of robots.

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

—

Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název statě ve sborníku

2017 IEEE Latin American Conference on Computational Intelligence (LA-CCI)

ISBN

978-1-5386-3734-0

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

New Jersey

Místo konání akce

Arequipa

Datum konání akce

8. 11. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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