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Multi-Robot Path Following with Visual Connectivity
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
TU Delft.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2011 (English)In: Conference Record: Asilomar Conference on Signals, Systems and Computers, IEEE , 2011, 1466-1471 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
Conference Record - Asilomar Conference on Signals, Systems and Computers, ISSN 1058-6393 ; 6190261
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-58784DOI: 10.1109/ACSSC.2011.6190261Scopus ID: 2-s2.0-84861312721ISBN: 978-146730323-1 (print)OAI: oai:DiVA.org:kth-58784DiVA: diva2:474049
Conference
5th Asilomar Conference on Signals, Systems and Computers, ASILOMAR 2011; Pacific Grove, CA, United States, 6-9 November, 2011
Note

QC 20120131

Available from: 2012-01-31 Created: 2012-01-09 Last updated: 2014-10-03Bibliographically approved

Open Access in DiVA