Provably correct closed-loop control for multiple mobile robot systems

被引：0
作者：
Roszkowska, E [1 ]
机构：
[1] Wroclaw Univ Technol, Inst Engn Cybernet, Wroclaw, Poland
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
Multiple mobile robot system; closed-loop control; collision avoidance; deadlock avoidance;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper introduces and advocates a new approach to the coordination of the motion of multiple mobile robots. In contrast to the current literature solutions, based on the execution of off-line generated plans, this work develops a state-based, closed-loop control mechanism ensuring in a provable manner the correct concurrent robot movement. The concept consists of partitioning the robots' paths into sectors and allowing each robot to move freely within a sector, whereas sector crossing is guarded with a real-time policy that guarantees collision and deadlock avoidance.
引用
收藏
页码：2810 / 2815
页数：6
相关论文
共 28 条
  • [1] Banaszak Z., 1988, PODSTAWY STEROWANIA, V18, P3
  • [2] ROBOT MOTION PLANNING - A DISTRIBUTED REPRESENTATION APPROACH
    BARRAQUAND, J
    LATOMBE, JC
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1991, 10 (06) : 628 - 649
  • [3] FAST MOTION PLANNING FOR MULTIPLE MOVING ROBOTS
    BUCKLEY, SJ
    [J]. PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 322 - 326
  • [4] Cassandras C.G., 2021, Introduction to Discrete Event Systems, V3rd
  • [5] CHANG C, 1994, IEEE T SYST MAN CYB, V24, P517
  • [6] COFFMAN E, 1971, COMPUT SURV, P67
  • [7] DIJKSTRA E, 1968, PROGRAMMING LANGUAGE
  • [8] A PETRI-NET BASED DEADLOCK PREVENTION POLICY FOR FLEXIBLE MANUFACTURING SYSTEMS
    EZPELETA, J
    COLOM, JM
    MARTINEZ, J
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1995, 11 (02): : 173 - 184
  • [9] FANTI M, 1997, IEEE INT C SMC
  • [10] Event-based feedback control for deadlock avoidance in flexible production systems
    Fanti, MP
    Maione, B
    Mascolo, S
    Turchiano, B
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1997, 13 (03): : 347 - 363
123