TY - GEN
T1 - An on-line coordination algorithm for multi-robot systems
AU - Montaño, Andrés
AU - Suárez, Raúl
PY - 2013
Y1 - 2013
N2 - This paper proposes a solution to the problem of coordinating multi-robot systems, which execute individually planned tasks in a shared workspace. The presented approach is a decoupled method that can coordinate the participants robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of each robot along its original planned path according to the movements of the other robots to assure a collision free execution of their tasks. To assess the proposed approach a two robot system was used, and different tests were performed in graphical simulations as well as in real executions. Some examples are presented in the paper.
AB - This paper proposes a solution to the problem of coordinating multi-robot systems, which execute individually planned tasks in a shared workspace. The presented approach is a decoupled method that can coordinate the participants robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of each robot along its original planned path according to the movements of the other robots to assure a collision free execution of their tasks. To assess the proposed approach a two robot system was used, and different tests were performed in graphical simulations as well as in real executions. Some examples are presented in the paper.
UR - https://www.scopus.com/pages/publications/84890607135
U2 - 10.1109/ETFA.2013.6648032
DO - 10.1109/ETFA.2013.6648032
M3 - Conference contribution
AN - SCOPUS:84890607135
SN - 9781479908622
T3 - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
BT - Proceedings of 2013 IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013
T2 - 2013 IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013
Y2 - 10 September 2013 through 13 September 2013
ER -