Proceedings ArticleDOI
A cooperative path-planning for multiple automata by dynamic/static conversion
Hiroshi Noborio,M. Edashige +1 more
- Vol. 3, pp 1955-1962
TLDR
An online path-planning algorithm for multiple automata that decomposes all simple and complex swarms uniformly by the following dynamic/static conversion: some automata are stopped in the swarm, and the others are moved around the set of stopped automata.Abstract:
An online path-planning algorithm for multiple automata is proposed. Each automaton usually goes straight to the goal. When some of the automata touch each other, some kind of swarm occurs and is identified by sensors. In general, several kinds of swarm appear, since a lot of automata collide in different circumstances. The proposed algorithm decomposes all simple and complex swarms uniformly by the following dynamic/static conversion: some automata are stopped in the swarm, and the others are moved around the set of stopped automata. By using this conversion, the algorithm destroys all swarms by some simple motions in common and is easily applied for some practical robots. Moreover, the automata decompose the swarm by cooperative motions as follows: an inside automaton comes close to its goal monotonously. Since all automata go straight to their goals outside the swarm, convergence of the automata toward their goals is naturally ensured. Communication overhead is kept small enough by using the monotony property, and consequently the algorithm can run online.read more
Citations
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Proceedings ArticleDOI
Petri Net-Based Cooperation In Multi-Agent Systems
TL;DR: A formal framework for robotic cooperation is presented in which an extension to Petri nets, known as workflow nets, is used to establish a protocol among mobile agents based on the task coverage they maintain.
Journal ArticleDOI
Motion skills in multiple mobile robot system
TL;DR: An algorithm for acquiring and utilizing motion skills in motion planning of multiple mobile robots is proposed and the concept of sensor information pattern is introduced for recognizing the specific situation.
Workflow-Net Based Cooperative Multi-Agent Systems
TL;DR: A cooperative framework with operators that assign tasks to agents based on their capabilities to achieve the required task is proposed and a cooperative algebra converts the plan into a set of matrices that model the cooperative workflow among agents.
Book ChapterDOI
On a Deadlock-free Characteristic of the On-line and Decentralized Path-planning for Multiple Automata
Hiroshi Noborio,T. Yoshioka +1 more
TL;DR: An on-line and decentralized path-planning algorithm for multiple automata and its deadlock-free characteristic in an infinite 2-d world is proposed and discussed.
Journal ArticleDOI
Motion planning of multiple mobile robots by a combination of learned visibility graphs and virtual impedance
Jun Ota,Tamio Arai,Yuji Yoshimura,Natsuki Miyata,Eiichi Yoshida,Daisuke Kurabayashi,Jun Sasaki +6 more
TL;DR: A hierarchical architecture with two layers 'learned visibility graph layer (upper layer)' and 'virtual impedance layer (lower layer)' (one of the potential field planning method) is presented, which is capable of adequate path generation and motion.
References
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Book
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Book ChapterDOI
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Journal ArticleDOI
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