Conference proceeding
Decentralized Multi-Vehicle Path Coordination under Communication Constraints
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, pp 2306-2313
01 Jan 2011
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
We present a mathematical programming based decentralized framework to generate time optimal velocity profiles for a group of path constrained mobile vehicle robots subject to communication connectivity constraints. Each vehicle robot starts from a fixed start point and moves towards a goal point along a fixed path so as to avoid collisions with other robots, and remain in communication connectivity with other robots. The main contribution of this paper is the discrete time decentralized Receding Horizon Mixed Integer Nonlinear Programming (RH-MINLP) formulation of the multi-vehicle path coordination problem with constraints on kinematics, dynamics, collision avoidance, and communication connectivity, and the application of state-of-the-art MINLP solution techniques. We test scenarios involving up to ten (10) robots to demonstrate (i) the effect of communication connectivity requirements on robot velocity profiles; and (ii) the dependence of the solution computation time on communication connectivity requirements.
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Details
- Title
- Decentralized Multi-Vehicle Path Coordination under Communication Constraints
- Creators
- Pramod Abichandani - Drexel UniversityHande Y. Benson - Drexel UniversityMoshe Kam - Drexel UniversityIEEE
- Publication Details
- 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, pp 2306-2313
- Series
- IEEE International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Number of pages
- 8
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Decision Sciences (and Management Information Systems)
- Web of Science ID
- WOS:000297477502100
- Other Identifier
- 991019170503804721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Computer Science, Artificial Intelligence
- Computer Science, Information Systems
- Engineering, Electrical & Electronic
- Robotics