NDLI: Coordinated navigation of multi-robot systems with binary constraints

Content Provider	IEEE Xplore Digital Library
Author	Brüggemann, B. Schulz, D.
Copyright Year	2010
Description	Author affiliation: Unmanned Systems Group, Fraunhofer FKIE, 53343 Wachtberg, Germany (Brüggemann, B.; Schulz, D.)
Abstract	In this paper we present a method for navigating a multi-robot system through an environment while additionally maintaining a predefined set of constraints. Possible constraints are the requirement to keep up the direct line-of-sight between robots or to ensure that robots stay within a certain distance. Our approach is based on graph structures that model movements and constraints separately, in order to cover different robots and a large class of possible constraints. Additionally, the partition of movement and constraint graph allows us to use known graph algorithms like Steiner trees to solve the problem of finding a target configuration for the robots. We construct so called separated distance graphs from the Steiner tree and the underlying roadmap graph, which allow assembling valid navigation plans fast.
Starting Page	3854
Ending Page	3859
File Size	1317012
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652679
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Steiner trees Navigation Planning Relays Multirobot systems
Content Type	Text
Resource Type	Article

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