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, self-similar and modularized, where each module is realized with concurrent threads. The underlying motion planner is based on an Artificial Polential Fields method applied on a discretized C-Space-time. © 2008 IEEE.
Marchese, F. (2008). The Motion Coordination in the C-Space-Time with a Multi-layered. In Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008 (pp.2522-2527). Qingdao : IEEE [10.1109/ICAL.2008.4636593].
The Motion Coordination in the C-Space-Time with a Multi-layered
Marchese, F
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, self-similar and modularized, where each module is realized with concurrent threads. The underlying motion planner is based on an Artificial Polential Fields method applied on a discretized C-Space-time. © 2008 IEEE.
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