NDLI: Planning coordination and execution in multi-robots environment

Content Provider	IEEE Xplore Digital Library
Author	Alami, R. Ingrand, F. Qutub, S.
Copyright Year	1997
Description	Author affiliation: Lab. d'Autom. et d'Anal. des Syst., CNRS, Toulouse, France (Alami, R.)
Abstract	We present and discuss a generic cooperative scheme for multi-robot cooperation based on an incremental and distributed plan-merging process. Each robot, autonomously and incrementally builds and executes its own plans taking into account the multi-robot context. The robots are assumed to be able to collect the other robots current plans and goals and to produce plans which satisfy a set of constraints that are discussed. We discuss the properties of this cooperative scheme (coherence, detection of dead-lock situations) as well as the class of applications for which it is well suited. We show how this paradigm can be used in a hierarchical manner, and in contexts where planning is performed in parallel with plan execution. We also discuss the possibility to negotiate goals within this framework and how this paradigm "fills the gap" between centralised planning and distributed execution. We finally illustrate this scheme through an implemented system which allows a fleet of autonomous mobile robots to perform load transfer tasks in a route network environment with a very limited centralised activity and important gains in system flexibility and robustness to execution contingencies.
Starting Page	525
Ending Page	530
File Size	1037129
Page Count	6
File Format	PDF
ISBN	0780341600
DOI	10.1109/ICAR.1997.620232
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-07-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Mobile robots Motion planning Portable media players Uncertainty Collaboration Process planning Strategic planning Spatial resolution Hazards
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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