Title:
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An on-line coordination algorithm for multi-robot systems
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Author:
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Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl
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Other authors:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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This paper proposes a solution to the problem of coordinating multi-robot systems, which execute individually planned tasks in a shared workspace. The presented approach is a decoupled method that can coordinate the
participants robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of
each robot along its original planned path according to the movements of the other robots to assure a collision free execution of their tasks. To assess the proposed approach a two robot system was used, and different tests were performed in graphical simulations as well as in real executions. Some examples are presented in the paper. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robotics -Robòtica |
Rights:
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Document type:
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Article - Submitted version Conference Object |
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