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

Volume

2

fYear

1995

fDate

5-9 Aug 1995

Firstpage

253

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.1995.526169

Filename

526169