PRIORITY SELECTION FOR MULTI-ROBOTS

S. H. Ji, S. M. Lee, W. H. Shon

Abstract

The priority selecting problem for multi-robots deals with the determination of the relative importance of multi-robots with the limited capability in speed and acceleration in order that the robots should arrive in the minimum time without any collision. Unlike the case of a single robot, the arrival time of multi-robots depends on the delayed action for collision-avoidance. The delayed action time to avoid collision varies according to the priority order of the robots. This means that faster motion completion can be achieved by altering the distribution of the priority. However, the priority decision which provides the collision-free optimum operation of multi-robots cannot be solved mathematically. It is because the collision avoidance process among robots is closely linked mutually. Therefore in this paper, based on (M,D) network model, in considering the priority decision, how to reduce the complexity of priority decision is suggested by selecting the robots which have influence on operating performance of total robots. Conclusively, the effectiveness of the proposed approach is confirmed through simulation.

References

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Paper Citation


in Harvard Style

Ji S., Lee S. and Shon W. (2010). PRIORITY SELECTION FOR MULTI-ROBOTS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 403-408. DOI: 10.5220/0002943604030408


in Bibtex Style

@conference{icinco10,
author={S. H. Ji and S. M. Lee and W. H. Shon},
title={PRIORITY SELECTION FOR MULTI-ROBOTS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={403-408},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002943604030408},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PRIORITY SELECTION FOR MULTI-ROBOTS
SN - 978-989-8425-01-0
AU - Ji S.
AU - Lee S.
AU - Shon W.
PY - 2010
SP - 403
EP - 408
DO - 10.5220/0002943604030408