Decentralized motion planning for multiple robots subject to sensing and communication constraints

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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
motion control
dynamic constraints
runtime replanning
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Pereira, Guilherme A. S.
Das, Aveek K
Campos, Mario F. M.
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We address the problem of planning the motion of a team of mobile robots subject to constraints imposed by sensors and the communication network. Our goal is to develop a decentralized motion control system that leads each robot to their individual goals while keeping connectivity with the neighbors. We present experimental results with a group of car-like robots equipped with omnidirectional vision systems.

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2003-03-17
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Departmental Papers (MEAM)
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2023-05-16T22:32:03.000
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Postprint version. Published in Multi-Robot Systems: From Swarms to Intelligent Automata, Volume II, Proceedings of the 2003 International Workshop on Multi-Robot Systems, pages 267-278.
Postprint version. Published in Proceedings of the Second Multi-Robot Systems Workshop, Volume 14, Issue 1, February 2004, pages 267-278. Publisher URL: http://www.verlab.dcc.ufmg.br/projetos/gpereira/mrsw2003.pdf
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