Priority-based intersection management with kinodynamic constraints

Abstract : We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot motion planning. Assuming the priorities between robots are assigned in advance and the existence of a collision-free trajectory respecting those priorities, we propose a provably safe trajectory planner satisfying kinodynamic constraints. The algorithm is shown to run in real time and to return safe (collision-free) trajectories. Simulation results on synthetic data illustrate the benefits of the approach.
Type de document :
Pré-publication, Document de travail
to be presented at ECC2014, 6 pages. 2013
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https://hal.archives-ouvertes.fr/hal-00875435
Contributeur : Jean Gregoire <>
Soumis le : lundi 5 mai 2014 - 13:27:50
Dernière modification le : lundi 12 novembre 2018 - 10:55:55
Document(s) archivé(s) le : mardi 5 août 2014 - 12:20:21

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  • HAL Id : hal-00875435, version 2

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Jean Gregoire, Silvère Bonnabel, Arnaud De La Fortelle. Priority-based intersection management with kinodynamic constraints. to be presented at ECC2014, 6 pages. 2013. 〈hal-00875435v2〉

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