Title:
|
Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission
|
Author:
|
Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto
|
Other authors:
|
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
Abstract:
|
This article presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. Unlike other methods, we consider situations where individuals can move freely and can escape from the formation, moreover they must be regrouped by multiple mobile robots working cooperatively.
The problem is addressed by introducing a “Discrete Time Motion” model (DTM) and a new cost function that minimizes the work required by robots for leading and regrouping people. The guiding mission is carried out in urban areas containing multiple obstacles and building constraints. Furthermore, an analysis of forces actuating among robots and humans is presented
throughout simulations of different situations of robot and human configurations and behaviors. |
Abstract:
|
Peer Reviewed |
Subject(s):
|
-Àrees temàtiques de la UPC::Informàtica::Robòtica -Mobile robots -Multi-robot systems -Service robots -Robots mòbils -Classificació INSPEC::Automation::Robots::Mobile robots |
Rights:
|
|
Document type:
|
Article - Submitted version Conference Object |
Share:
|
|