A constraint-based approach for multiple non-holonomic vehicle coordination in industrial scenarios
2012 (English)In: ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, 2012, 45-52 p.Conference paper, Presentation (Refereed)
Autonomous vehicles are already widely used in industrial logisticsettings. However, applications still lack flexibility, andmany steps of the deployment process are hand-crafted byspecialists. Here, we preset a new, modular paradigm whichcan fully solve logistic problems for AGVs, from high-leveltask planning to vehicle control. In particular, we focus ona new method for multi-robot coordination which does notrely on pre-defined traffic rules and in which feasible andcollision-free trajectories are calculated for every vehicle accordingto mission specifications. Also, our solutions canbe adapted on-line to exogenous events, control failures, orchanges in mission requirements.
Place, publisher, year, edition, pages
2012. 45-52 p.
Multi vehicle coordination, non-holonomic path planning, constraint reasoning
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-23231OAI: oai:DiVA.org:oru-23231DiVA: diva2:530737
ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications, Atibadia, São Paulo, Brazil