DocumentCode
2137532
Title
Autonomous cooperation planning for heterogeneous multi-robot
Author
Kato, Daichi ; Sekiyama, Kosuke ; Fukuda, Toshio
Author_Institution
Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan
fYear
2011
fDate
11-15 April 2011
Firstpage
63
Lastpage
68
Abstract
This paper deals with an adaptive multi-robot task planning. When a desired goal state of the task environment is given, backward task planning from the goal state and forward search form the initial condition such as currently available robot and functions and displacement of objects etc., are interactively executed to find a feasible state transition. Nontrivial multi-robot cooperation formation is dynamically generated as a result of the task planning. Experimental results validate the proposed method.
Keywords
cooperative systems; mobile robots; multi-robot systems; adaptive heterogeneous multirobot task planning; autonomous cooperation planning; backward task planning; multirobot cooperation formation; state transition; Multirobot systems; Planning; Real time systems; Robot vision systems; Strips;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotic Intelligence In Informationally Structured Space (RiiSS), 2011 IEEE Workshop on
Conference_Location
Paris
Print_ISBN
978-1-4244-9885-7
Type
conf
DOI
10.1109/RIISS.2011.5945780
Filename
5945780
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