3953587
doi
10.1007/978-3-030-31993-9_18
oai:zenodo.org:3953587
user-eu
Kulich, Miroslav
Přeučil, Libor
On Randomized Searching for Multi-robot Coordination
Hvězda, Jakub
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
<p>In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several decades, and many approaches have been introduced. However, only a small minority is applicable in practice because of their properties - small computational requirement, producing solutions near-optimum, and completeness. The approach we present is based on a multi-robot variant of Rapidly Exploring Random Tree algorithm (RRT) for discrete environments and significantly improves its performance. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in [23], it solves problems where ter Morses algorithm fails.</p>
Zenodo
2019-10-26
info:eu-repo/semantics/bookPart
3953586
user-eu
award_title=Safe human-robot interaction in logistic applications for highly flexible warehouses; award_number=688117; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/688117; funder_id=00k4n6c32; funder_name=European Commission;
1601040865.210848
788712
md5:47807a163de6e2200a2fe8cc404f2dfe
https://zenodo.org/records/3953587/files/2007.10020.pdf
public