MULTIPLE MOBILE ROBOTS MOTION-PLANNING: AN APPROACH WITH SPACE-TIME MCA

Fabio M. Marchese

Abstract

In this paper is described a fast Path-Planner for Multi-robot composed by mobile robots having generic shapes and sizes (user defined) and different kinematics. We have developed an algorithm that computes the shortest collision-free path for each robot, from the starting pose to the goal pose, while considering their real shapes, avoiding the collisions with the static obstacles and the other robots. It is based on a directional (anisotropic) propagation of attracting potential values in a 4D Space-Time, using a Multilayered Cellular Automata (MCA) architecture. This algorithm makes a search for all the optimal collision-free trajectories following the minimum valley of a potential hypersurface embedded in a 5D space.

References

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Paper Citation


in Harvard Style

Marchese F. (2006). MULTIPLE MOBILE ROBOTS MOTION-PLANNING: AN APPROACH WITH SPACE-TIME MCA . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 398-403. DOI: 10.5220/0001218103980403


in Bibtex Style

@conference{icinco06,
author={Fabio M. Marchese},
title={MULTIPLE MOBILE ROBOTS MOTION-PLANNING: AN APPROACH WITH SPACE-TIME MCA},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={398-403},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001218103980403},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MULTIPLE MOBILE ROBOTS MOTION-PLANNING: AN APPROACH WITH SPACE-TIME MCA
SN - 978-972-8865-60-3
AU - Marchese F.
PY - 2006
SP - 398
EP - 403
DO - 10.5220/0001218103980403