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Authors: Bernd Brüeggemann ; Michael Brunner and Dirk Schulz

Affiliation: Fraunhofer FKIE, Germany

ISBN: 978-989-8565-71-6

Keyword(s): Multi-Robot System, Cooperation, Planning, Graph Search.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Network Robotics ; Planning and Scheduling ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems

Abstract: Within the topic of coordinated navigation of multi-robot systems (MRS) the problem may occur that there is a difference between where the robots are able to move to and where they are allowed to move. To deal with such constraints we propose a roadmap approach where those two different kinds of information are merged. So we encounter the problem of connecting several target positions with valid paths in a graph structure. Therefore, an asynchronous, parallel search algorithm is developed to find a passable and allowed way to the target positions. In addition to static planning we show that our search algorithm is able to deal with dynamic graphs and, to some extend, unknown environments.

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Paper citation in several formats:
Brüeggemann, B.; Brunner, M. and Schulz, D. (2013). Asynchronous Flooding Planner for Multi-Robot Navigation.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-71-6, pages 222-230. DOI: 10.5220/0004457802220230

@conference{icinco13,
author={Bernd Brüeggemann. and Michael Brunner. and Dirk Schulz.},
title={Asynchronous Flooding Planner for Multi-Robot Navigation},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={222-230},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004457802220230},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Asynchronous Flooding Planner for Multi-Robot Navigation
SN - 978-989-8565-71-6
AU - Brüeggemann, B.
AU - Brunner, M.
AU - Schulz, D.
PY - 2013
SP - 222
EP - 230
DO - 10.5220/0004457802220230

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