Motion planning for multiple mobile robots using dynamic networks
2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), Vol: 3, Page: 4222-4227
2003
- 28Citations
- 1,014Usage
- 106Captures
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
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Metrics Details
- Citations28
- Citation Indexes28
- CrossRef28
- Usage1,014
- Downloads976
- Abstract Views38
- Captures106
- Readers106
- 106
Conference Paper Description
A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information then becomes available to all robots in this network. With this new information, each robot uses a fast, centralized planner to compute new coordinated trajectories on the fly. Planning over several robot networks is decentralized and distributed. Both simulated and real-robot experiments have validated the approach.
Bibliographic Details
http://ieeexplore.ieee.org/document/1242252/; http://xplorestaging.ieee.org/ielx5/8794/27835/01242252.pdf?arnumber=1242252; http://dx.doi.org/10.1109/robot.2003.1242252; https://digitalcommons.calpoly.edu/csse_fac/69; https://digitalcommons.calpoly.edu/cgi/viewcontent.cgi?article=1070&context=csse_fac
Institute of Electrical and Electronics Engineers (IEEE)
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