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Coordinated navigation for multi-robot systems with additional constraints

: Brüggemann, B.; Schulz, D.


Luck, M. ; Association for Computing Machinery -ACM-; Association for Computing Machinery -ACM-, Special Interest Group on Artificial Intelligence -SIGART-:
AAMAS 2010, 9th International Conference on Autonomous Agents and Multiagent Systems. Proceedings : Toronto, Kanada; 9.-14. Mai 2010
New York: ACM, 2010
ISBN: 978-0-9826571-1-9
International Conference on Autonomous Agents and Multiagent Systems (AAMAS) <9, 2010, Toronto>
Conference Paper
Fraunhofer FKIE

In this paper we present a method for navigating a multirobot system through an environment while additionally maintaining a set of constraints. Our approach is based on graph structures that model movements and constraints separately, in order to cover different robots and a large class of possible constraints. Additionally, the partition of movement and constraint graph allows us to use known graph algorithms like Steiner trees to solve the problem of finding a target configuration for the robots. We construct so called separated distance graphs from the Steiner tree and the underlying roadmap graph, which allow to assemble valid navigation plans fast.