Multi-Robot Path Following with Visual Connectivity
2011 (English)In: Conference Record: Asilomar Conference on Signals, Systems and Computers, IEEE , 2011, 1466-1471 p.Conference paper (Refereed)
We consider a group of N robots moving through an obstacle field, where only robots that have a clear line of sight can communicate. When passing the obstacles, the group must coordinate its motion to remain connected. We propose using the path–velocity decomposition: Given obstacle-free paths that fulfill a higher-level goal, we propose a method to coordinate the robot motions along the paths so visual connectivity is maintained. The problem is shown to be equivalent to finding a path through an N-dimensional configuration space, avoiding unconnected configurations. We solve this problem with a rapidly exploring random tree algorithm and demonstrate by simulations how the solution time varies with the obstacle density.
Place, publisher, year, edition, pages
IEEE , 2011. 1466-1471 p.
, Conference Record - Asilomar Conference on Signals, Systems and Computers, ISSN 1058-6393 ; 6190261
IdentifiersURN: urn:nbn:se:kth:diva-58784DOI: 10.1109/ACSSC.2011.6190261ScopusID: 2-s2.0-84861312721ISBN: 978-146730323-1OAI: oai:DiVA.org:kth-58784DiVA: diva2:474049
5th Asilomar Conference on Signals, Systems and Computers, ASILOMAR 2011; Pacific Grove, CA, United States, 6-9 November, 2011
QC 201201312012-01-312012-01-092014-10-03Bibliographically approved