Coordination of several robots based on temporal synchronization

This paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can coordinate the participating robots in on-line mode. The coordination is achieved t...

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Bibliographic Details
Published in:Robotics and computer-integrated manufacturing 2016-12, Vol.42, p.73-85
Main Authors: Montaño, Andrés, Suárez, Raúl
Format: Article
Language:English
Subjects:
Control systems
Informàtica
Motion
Motion Planning
Motion Synchronization
Moviment
Multi-Robot Systems
Robots
Robòtica
Sistemes de control
Temporal Coordination
Àrees temàtiques de la UPC
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Summary:This paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can coordinate the participating robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of each robot along its original planned geometric path according to the movements of the other robots to assure a collision-free execution of their respective tasks. To assess the proposed approach different tests were performed in graphical simulations and real experiments. •On-line coordination method for multirobot systems.•Given the next configuration of the robots assure a collision free execution.•Propose two heuristics to determine the possible next configuration of the robots.
ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2016.05.008