Date of this Version
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.
motion control, dynamic constraints, runtime replanning
Pereira, Guilherme A. S.; Das, Aveek K.; Kumar, R. Vijay; and Campos, Mario F. M., "Decentralized motion planning for multiple robots subject to sensing and communication constraints" (2003). Departmental Papers (MEAM). 45.
Date Posted: 13 August 2005