Title :
Planning multiple autonomous robots motion in space and time
Author :
Ferrari, C. ; Pagello, E. ; Ota, J. ; Arai, T.
Author_Institution :
Dipartimento di Elettronica e Inf., Padova Univ., Italy
Abstract :
We address the problem of planning the motion of multiple autonomous robots, by analysing their behaviour in space and time. Proper representations have been studied for both domains, with a particular emphasis on the definition of some performance indexes to weight the goodness of a path concerning motion and time performances. Sublinear algorithms have been used for planning in space while reasoning in the temporal domain is based on a proper subdivision of the time axis that leads to polynomial algorithms
Keywords :
cooperative systems; intelligent control; motion control; path planning; performance index; robots; temporal reasoning; time-domain analysis; motion planning; multiple autonomous robots; performance index; polynomial algorithms; space domain; sublinear algorithms; temporal reasoning; time axis; time domain; velocity planning; Informatics; Mobile robots; Motion analysis; Motion planning; Orbital robotics; Path planning; Performance analysis; Polynomials; Robot motion; Robotics and automation; Space stations; Trajectory;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.526169
