In this paper we present a layered architecture for multirobot motion coordination. The purpose is to control and coordinate autonomous mobile robot with generic shapes and kinematics in a priori known environment. It is a centralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them moving synchronously. The architecture is layered and modularized, where each module is realized with concurrent threads. The underlying motion planner is based on an Arti¯cial Potential Fields method applied on a discretized C-Space-Time
Marchese, F. (2008). A multi-threads architecture for the motion coordination of a heterogeneous multi-robot system. In A. Gelbukh, A. Morales (a cura di), 6th Mexican Int. Conf. on Artificial Intelligence (MICAI 2007) (special post-conference session) (pp. 418-428). Washington DC : IEEE Computer Society [10.1109/MICAI.2007.44].
A multi-threads architecture for the motion coordination of a heterogeneous multi-robot system
Marchese, FMG
2008
Abstract
In this paper we present a layered architecture for multirobot motion coordination. The purpose is to control and coordinate autonomous mobile robot with generic shapes and kinematics in a priori known environment. It is a centralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them moving synchronously. The architecture is layered and modularized, where each module is realized with concurrent threads. The underlying motion planner is based on an Arti¯cial Potential Fields method applied on a discretized C-Space-Time
| File | Dimensione | Formato | |
|---|---|---|---|
|
FMMarchese-A Multi-threads Architecture for the Motion Coordination of a Heterogeneous Multi-robot System.pdf
accesso aperto
Dimensione
1 MB
Formato
Adobe PDF
|
1 MB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
