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| Content Provider | Springer Nature Link |
|---|---|
| Author | Bekris, Kostas E. Tsias, Konstantis I. Kavraki, Lydia E. |
| Copyright Year | 2009 |
| Abstract | This work deals with the problem of planning collision-free motions for multiple communicating vehicles that operate in the same, partially-observable environment in real-time. A challenging aspect of this problem is how to utilize communication so that vehicles do not reach states from which collisions cannot be avoided due to second-order motion constraints. This paper initially shows how it is possible to provide theoretical safety guarantees with a priority-based coordination scheme. Safety means avoiding collisions with obstacles and between vehicles. This notion is also extended to include the retainment of a communication network when the vehicles operate as a networked team. The paper then progresses to extend this safety framework into a fully distributed communication protocol for real-time planning. The proposed algorithm integrates sampling-based motion planners with message-passing protocols for distributed constraint optimization. Each vehicle uses the motion planner to generate candidate feasible trajectories and the message-passing protocol for selecting a safe and compatible trajectory. The existence of such trajectories is guaranteed by the overall approach. The theoretical results have also been experimentally confirmed with a distributed simulator built on a cluster of processors and using applications such as coordinated exploration. Furthermore, experiments show that the distributed protocol has better scalability properties when compared against the priority-based scheme. |
| Starting Page | 292 |
| Ending Page | 308 |
| Page Count | 17 |
| File Format | |
| ISSN | 1383469X |
| Journal | Mobile Networks and Applications |
| Volume Number | 14 |
| Issue Number | 3 |
| e-ISSN | 15728153 |
| Language | English |
| Publisher | Springer US |
| Publisher Date | 2009-02-10 |
| Publisher Place | Boston |
| Access Restriction | One Nation One Subscription (ONOS) |
| Subject Keyword | motion coordination message-passing protocol motion planning vehicular networks real-time control safety Business Information Systems Electrical Engineering Computer Communication Networks Communications Engineering, Networks |
| Content Type | Text |
| Resource Type | Article |
| Subject | Computer Networks and Communications Information Systems Hardware and Architecture Software |
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