NDLI: Behavior-based motion planning for group control

Content Provider	IEEE Xplore Digital Library
Author	Vo, C. Harrison, J.F. Jyh-Ming Lien
Copyright Year	2009
Description	Author affiliation: Department of Computer Science, George Mason University, 4400 University Drive MSN 4A5, Fairfax, VA 22030 USA (Vo, C.; Harrison, J.F.; Jyh-Ming Lien)
Abstract	Despite the large body of work in both motion planning and multi-agent simulation, little work has focused on the problem of planning motion for groups of robots using external “controller” agents. We call this problem the group control problem. This problem is complex because it is highly underactuated, dynamic, and requires multi-agent cooperation. In this paper, we present a variety of new motion planning algorithms based on EST, RRT, and PRM methods for shepherds to guide flocks of robots through obstacle-filled environments. We show using simulation on several environments that under certain circumstances, motion planning can find paths that are too complicated for naïve “simulation only” approaches. However, inconsistent results indicate that this problem is still in need of additional study.
Starting Page	3768
Ending Page	3773
File Size	1668593
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354032
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Motion planning Path planning Biological system modeling Intelligent robots Computational modeling USA Councils Robot control Navigation Dogs
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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