Collaborator: A Nonholonomic Multiagent Team for Tasks in a Dynamic Environment
In our previous work, we proposed a potential field-based hybrid path planning scheme for robot navigation that achieves complete coverage in various tasks. This paper is an extension of this work producing a multiagent framework, Collaborator, that integrates a high-level negotiation-based task all...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2009-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2009/986207 |
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| Summary: | In our previous work, we proposed a potential field-based hybrid path planning scheme for robot navigation that achieves complete coverage in various tasks. This
paper is an extension of this work producing a multiagent framework, Collaborator, that integrates a high-level negotiation-based task allocation protocol with a
low-level path planning method taking into consideration several real-world robot
limitations such as nonholonomic constraints. Specifically, the proposed framework
focuses on a class of complex motion planning problems in which robots need to
cover the whole workspace, coordinate the accomplishment of a task, and dynamically change their roles to best fit the task. Applications in this class of problems
include bomb detection and removal as well as rescuing of survivors from accidents
or disasters. We have tested the framework in simulations of several tasks and have
shown that Collaborator can satisfy nonholonomic constraints, cooperatively accomplish given tasks in an initially unknown dynamic environment while avoiding
collision with other team members. Finally we prove that the proposed control laws
are stable using the Lyapunov stability theory. |
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| ISSN: | 1687-9600 1687-9619 |