Title :
Adaptive trajectory coordination for scalable multiple robot control
Author :
Chwa, Hoon Sung ; Shyshkalov, Andrii ; Lee, Jinkyu ; Lee, Kilho ; Back, Hyoungbu ; Shin, Insik
Author_Institution :
Dept. of Comput. Sci., KAIST, Daejeon, South Korea
Abstract :
In this paper, we consider multiple robot display formation such that when users give a sequence of images as input, a large number of robots construct a sequence of formations to visualize the input images collectively. Users perceive a higher quality of responsiveness when robots respond to users´ input in a more prompt and/or regular manner. A key problem in multiple robot display is trajectory coordination, which determines the robot´s position and velocity along a given path while avoiding collisions. The response then consists of trajectory coordination computation time and robot moving time. In the multiple robot display, there is a conflict between reducing computation time and reducing robot moving time, and it is complicated to predict such a tradeoff over various environments. We propose an adaptive framework that exploits this tradeoff by prioritizing robots dynamically. Our simulation results show that our framework effectively reduces the response time in a scalable manner, and it produces balanced solutions adapting to various environments.
Keywords :
collision avoidance; image sequences; mobile robots; motion control; robot vision; adaptive trajectory coordination; collision avoidance; computation time reduction; image sequence; image visualization; multiple robot display formation; robot moving time reduction; robot position; robot velocity; scalable multiple robot control; Collision avoidance; Heuristic algorithms; Minimization; Robot kinematics; Time factors; Trajectory;
Conference_Titel :
Service-Oriented Computing and Applications (SOCA), 2011 IEEE International Conference on
Conference_Location :
Irvine, CA
Print_ISBN :
978-1-4673-0318-7
Electronic_ISBN :
978-1-4673-0317-0
DOI :
10.1109/SOCA.2011.6166231