loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Zhi Yan ; Nicolas Jouandeau and Arab Ali Cherif

Affiliation: Paris 8 University, France

Keyword(s): Multi-robot systems, Coordination, Motion planning, Sampling-based method.

Abstract: This paper describes a sampling-based approach to multi-robot motion planning. The proposed approach is centralized, which aims to reduce interference between mobile robots such as collision, congestion and deadlock, by increasing the number of waypoints. The implementation based on occupancy grid map is decomposed into three steps: the first step is to identify primary waypoints by using the Voronoi diagram, the second step is to generate additional waypoints by sampling the Voronoi diagram, and the last step is to assign the waypoints to robots by using the Hungarian method. The approach has been implemented and tested in simulation and the experimental results show a good system performance for multi-robot motion planning.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.148.117.237

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Yan, Z.; Jouandeau, N. and Ali Cherif, A. (2013). Sampling-based Multi-robot Motion Planning. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) - Volume 2: IVC&ITS; ISBN 978-989-8565-70-9; ISSN 2184-2809, SciTePress, pages 549-554. DOI: 10.5220/0004605005490554

@conference{ivc&its13,
author={Zhi Yan. and Nicolas Jouandeau. and Arab {Ali Cherif}.},
title={Sampling-based Multi-robot Motion Planning},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) - Volume 2: IVC&ITS},
year={2013},
pages={549-554},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004605005490554},
isbn={978-989-8565-70-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) - Volume 2: IVC&ITS
TI - Sampling-based Multi-robot Motion Planning
SN - 978-989-8565-70-9
IS - 2184-2809
AU - Yan, Z.
AU - Jouandeau, N.
AU - Ali Cherif, A.
PY - 2013
SP - 549
EP - 554
DO - 10.5220/0004605005490554
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic