Ten autonomous mobile robots (and even more) in a route network like environment
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 260-267 vol.2
- https://doi.org/10.1109/iros.1995.526170
Abstract
This paper presents an implemented system which allows one to run a fleet of autonomous mobile robots in a route network with a very limited centralized activity. The robots are provided with all the necessary ingredients for planning and executing navigation missions in a multi-robot context. Multi-robot cooperation is based on a generic paradigm called plan-merging paradigm, where robots incrementally merge their plans into a set of already coordinated plans. The robot architecture is derived from the generic architecture developed at LAAS. A 3D graphic environment system allows one to display a complete system composed of a dozen (or more) robots, each running on an independent workstation. An example is presented together with numerical results on the system behavior.Keywords
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