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- Cirillo, Marcello, 1978-, et al.
(författare)
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A lattice-based approach to multi-robot motion planning for non-holonomic vehicles
- 2014
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Ingår i: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. - 9781479969340 ; , s. 232-239
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Konferensbidrag (refereegranskat)abstract
- Coordinating fleets of autonomous, non-holonomic vehicles is paramount to many industrial applications. While there exists solutions to efficiently calculate trajectories for individual vehicles, an effective methodology to coordinate their motions and to avoid deadlocks is still missing. Decoupled approaches, where motions are calculated independently for each vehicle and then centrally coordinated for execution, have the means to identify deadlocks, but not to solve all of them. We present a novel approach that overcomes this limitation and that can be used to complement the deficiencies of decoupled solutions with centralized coordination. Here, we formally define an extension of the framework of lattice-based motion planning to multi-robot systems and we validate it experimentally. Our approach can jointly plan for multiple vehicles and it generates kinematically feasible and deadlock-free motions.
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| 2. |
- Cirillo, Marcello, 1978-, et al.
(författare)
-
Integrated Motion Planning and Coordination for Industrial Vehicles
- 2014
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Ingår i: Proceedings of the 24th International Conference on Automated Planning and Scheduling. - : AAAI Press. - 9781577356608
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Konferensbidrag (refereegranskat)abstract
- A growing interest in the industrial sector for autonomous ground vehicles has prompted significant investment in fleet management systems. Such systems need to accommodate on-line externally imposed temporal and spatial requirements, and to adhere to them even in the presence of contingencies. Moreover, a fleet management system should ensure correctness, i.e., refuse to commit to requirements that cannot be satisfied. We present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which provide these guarantees. The approach relies on a constraint-based representation shared among multiple solvers, each of which progressively refines trajectory envelopes following a least commitment principle.
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