Provably Correct Closed-Loop Control for Multiple Mobile Robot Systems
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| Abstract: | This paper introduces and advocates a new approach to the coordination of the motion of multiple mobile robots. In contrast to the current literature solutions, based on the execution of off-line generated plans, this work develops a state-based, closed-loop control mechanism ensuring in a provable manner the correct concurrent robot movement. The concept consists of partitioning the robots’ paths into sectors and allowing each robot to move freely within a sector, whereas sector crossing is guarded with a real-time policy that guarantees collision and deadlock avoidance. |
| Author:
| Roszkowska, E. |
| Author Unit:
| Institute of Engineering Cybernetics, Wroclaw University of Technology, Poland ekr@pwr.wroc.pl |
| Year: | 2005 |
| Source: | Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on |
| Volume-OnPage: | 2810 |
| Publication Date:
| 18-22 April 2005 |
| Keyword: | |
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