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Title: Departure and conflict management in multi-robot path coordination
Authors: Lertkultanon, Puttichai
Yang, Jingyi
Pham, Hung
Pham, Quang-Cuong
Keywords: Engineering::Mechanical engineering
Issue Date: 2018
Source: Lertkultanon, P., Yang, J., Pham, H., & Pham, Q.-C. (2018). Departure and Conflict Management in Multi-Robot Path Coordination. 2018 IEEE International Conference on Robotics and Automation (ICRA), 4327-4333. doi:10.1109/icra.2018.8460587
Abstract: This paper addresses the problem of multi-robot path coordination, considering specific features that arise in applications such as automatic aircraft taxiing or driver-less cars coordination. The first feature is departure events: when robots arrive at their destinations (e.g. the runway for takeoff), they can be removed from the coordination diagram. The second feature is the “no-backward-movement” constraint: the robots can only move forward on their assigned paths. These features can interact to give rise to complex conflict situations, which existing planners are unable to solve in practical time. We propose a set of algorithms to efficiently account for these features and validate these algorithms on a realistic model of Charles de Gaulle airport.
ISBN: 978-1-5386-3081-5
DOI: 10.1109/ICRA.2018.8460587
Rights: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Conference Papers

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