A Discrete Event Formulation for Multi-Robot Collision Avoidance on Pre-Planned Trajectories

A Discrete Event Formulation for Multi-Robot Collision Avoidance on Pre-Planned Trajectories

In this paper we consider the problem of collision avoidance among robots that follow pre-planned trajectories in a structured environment while minimizing the maximum traveling time among them. More precisely, we consider a discrete event formulation of this problem. Robots are modeled by automata,...

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Bibliographic Details
Main Authors: Diego Deplano, Mauro Franceschelli, Simon Ware, Su Rong, Alessandro Giua
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Discrete event systems
heuristic solution
MILP problem
multi-robot path-planning
optimal solution
optimization
Online Access:https://ieeexplore.ieee.org/document/9093025/

Internet

https://ieeexplore.ieee.org/document/9093025/

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