Journal ArticleDOI
Real-time pathfinding in multirobot systems including obstacle avoidance
E. Freund,H. Hoyer +1 more
TLDR
The paper describes an approach to the solution of the find path problem, including obstacle avoidance in multirobot systems, which is based on the nonlinear approach and employs the hierarchical coordinator for real-time collision avoidance.Abstract:
The paper describes an approach to the solution of the find path problem, including obstacle avoidance in multirobot systems. The design of multirobot systems requires an overall approach where not only parts of the structure, including the hierarchy are considered, but a complete concept, including the dynamics of the robots, has to be developed. In this paper the structure of these systems is based on the nonlinear con trol approach. The method for real-time pathfinding itself uses a systematic design procedure for multirobot systems, which includes the hierarchical coordinator. This hierarchical coordinator is designed for real-time collision avoidance, where the collision avoidance strategy is based on an analyti cally described avoidance trajectory that serves for collision detection as well as avoidance. The efficiency of the new approach for real-time pathfinding is demonstrated by several cases of practical interest, such as collision avoidance between three robots, interaction of three stationary...read more
Citations
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Journal ArticleDOI
Gross motion planning—a survey
Yong K. Hwang,Narendra Ahuja +1 more
TL;DR: This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments.
Proceedings ArticleDOI
Deadlock-free and collision-free coordination of two robot manipulators
TL;DR: The authors describe a method for coordinating the trajectories of two robot manipulators so as to avoid collisions between them and to avoid deadlock, that is, situations where each manipulator is waiting for the other to proceed.
Journal ArticleDOI
Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths
Jufeng Peng,Srinivas Akella +1 more
TL;DR: An approach to generate continuous velocity profiles for multiple robots; these velocity profiles satisfy the dynamics constraints, avoid collisions, and minimize the completion time is presented.
Journal ArticleDOI
Large-scale 3D printing by a team of mobile robots
TL;DR: This paper proposes a 3D printing system that employs multiple mobile robots printing concurrently a large, single-piece, structure, and is the first physical demonstration of large-scale, concurrent,3D printing of a concrete structure by multiple mobile Robots.
Book
Motion Planning in Dynamic Environments
TL;DR: This study of robot motion planning in dynamic domains presents algorithms for generating motion in an environment that changes over time and can serve as a reference for those working on spatial reasoning and autonomous robotic systems.
References
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Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
Book
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Journal ArticleDOI
An algorithm for planning collision-free paths among polyhedral obstacles
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Journal ArticleDOI
On multiple moving objects
TL;DR: This paper explores the motion-planning problem for multiple moving objects by assigning priorities to the objects, then planning motions one object at a time, using two-dimensional slices.