This paper describes a method for coordinating the motions of a group of robots following predefined paths in a common workspace. Coordination Diagrams (CD) are used for representing the possible collisions among the robots. We propose an algorithm that computes a complete coordination plan for the overall missions that each vehicle has to execute. The algorithm generates a set of possible coordination plans and then gives the optimal one. Previous works apply traditional path planning techniques (such as D* or A*) to compute a coordinated motion. However these techniques do not take into account the fact that the CD has a cylindrical structure. This features enables our algorithm to explore the CD in a more efficient way.

Coordination of multiple robots with assigned paths / Olmi, R.; Secchi, C.; Fantuzzi, C.. - 7:1(2010), pp. 312-317. (Intervento presentato al convegno 7th Symposium on Intelligent Autonomous Vehicles tenutosi a Lecce nel 2010) [10.3182/20100906-3-it-2019.00055].

### Coordination of multiple robots with assigned paths

#### Abstract

This paper describes a method for coordinating the motions of a group of robots following predefined paths in a common workspace. Coordination Diagrams (CD) are used for representing the possible collisions among the robots. We propose an algorithm that computes a complete coordination plan for the overall missions that each vehicle has to execute. The algorithm generates a set of possible coordination plans and then gives the optimal one. Previous works apply traditional path planning techniques (such as D* or A*) to compute a coordinated motion. However these techniques do not take into account the fact that the CD has a cylindrical structure. This features enables our algorithm to explore the CD in a more efficient way.
##### Scheda breve Scheda completa Scheda completa (DC)
2010
7th Symposium on Intelligent Autonomous Vehicles
Lecce
2010
7
312
317
Olmi, R.; Secchi, C.; Fantuzzi, C.
Coordination of multiple robots with assigned paths / Olmi, R.; Secchi, C.; Fantuzzi, C.. - 7:1(2010), pp. 312-317. (Intervento presentato al convegno 7th Symposium on Intelligent Autonomous Vehicles tenutosi a Lecce nel 2010) [10.3182/20100906-3-it-2019.00055].
File in questo prodotto:
Non ci sono file associati a questo prodotto.
##### Pubblicazioni consigliate

I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: `https://hdl.handle.net/11380/1249232`
• ND
• 5
• ND