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Priority-based coordination of robots

Abstract : This paper addresses the problem of coordinating multiple robots travelling through an intersection along fixed paths with positive velocities and kinodynamic constraints. The approach relies on a novel tool: a priority graph that encodes the relative order of the robots at the intersection. The overall planning approach can be decomposed into two key components as follows. The entry of robots into the intersection is managed by an intersection controller that assigns priorities. Within the intersection area, robots are controlled by a control law that preserves assigned priorities, avoids collisions, and is robust to unexpected decelerations of some robots occurring randomly.
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Preprints, Working Papers, ...
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Contributor : Jean Gregoire Connect in order to contact the contributor
Submitted on : Monday, May 5, 2014 - 1:22:20 PM
Last modification on : Tuesday, October 25, 2022 - 4:20:31 PM
Long-term archiving on: : Monday, April 10, 2017 - 7:09:17 PM


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  • HAL Id : hal-00828976, version 3


Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle. Priority-based coordination of robots. 2014. ⟨hal-00828976v3⟩



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