About: Asynchronous decentralized prioritized planning for coordination in multi-robot system

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6696903
Description	In this paper, the multi-robot motion coordination planning problem is addressed. Although a centralized prioritized planning strategy can be used to solve the problem, we rather consider a decentralized variant, which is a more suitable for a robotic system of cooperating unmanned aerial vehicles (UAVs) due to communication limitations, privacy concerns, and a better exploitation of computational resources distributed among the individual robots. However, the existing decentralized prioritized planning algorithm contains synchronization points that all the agents must be able to pass synchronously, which is impractical and inefficient for a real-world deployment of the robotic systems. Therefore, we introduce a new asynchronous decentralized prioritized planning algorithm and show that the method can converge faster than both the synchronous decentralized and centralized algorithms. Further, we demonstrate the applicability of the proposed method as a coordination mechanism within a complex mission planning for a real robotic system consisting of several autonomous UAVs. In this paper, the multi-robot motion coordination planning problem is addressed. Although a centralized prioritized planning strategy can be used to solve the problem, we rather consider a decentralized variant, which is a more suitable for a robotic system of cooperating unmanned aerial vehicles (UAVs) due to communication limitations, privacy concerns, and a better exploitation of computational resources distributed among the individual robots. However, the existing decentralized prioritized planning algorithm contains synchronization points that all the agents must be able to pass synchronously, which is impractical and inefficient for a real-world deployment of the robotic systems. Therefore, we introduce a new asynchronous decentralized prioritized planning algorithm and show that the method can converge faster than both the synchronous decentralized and centralized algorithms. Further, we demonstrate the applicability of the proposed method as a coordination mechanism within a complex mission planning for a real robotic system consisting of several autonomous UAVs. (en)
Title	Asynchronous decentralized prioritized planning for coordination in multi-robot system Asynchronous decentralized prioritized planning for coordination in multi-robot system (en)
skos:prefLabel	Asynchronous decentralized prioritized planning for coordination in multi-robot system Asynchronous decentralized prioritized planning for coordination in multi-robot system (en)
skos:notation	RIV/68407700:21230/13:00211547!RIV14-MSM-21230___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(7H11102), P(GP13-18316P), P(LD12044), S
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Faigl, Jan Čáp, Michal Vokřínek, Jiří Selecký, Martin
http://linked.open.../riv/druhVysledku	O - Ostatní výsledky nezařaditelné do žádného z výše uvedených druhů výsledku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	62410
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/13:00211547
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	trajectory coordination; multi-agent motion planning (en)
http://linked.open.../riv/klicoveSlovo	multi-agent motion planning trajectory coordination
http://linked.open...ontrolniKodProRIV	[6F66C32FB01A]
http://linked.open...in/vavai/riv/obor	JC
http://linked.open...ichTvurcuVysledku	4 (xsd:int)
http://linked.open...cetTvurcuVysledku	5 (xsd:int)
http://linked.open...vavai/riv/projekt	Designing Dynamic Distributed Cooperative Human-Machine Systems Self-Organizing Maps for Multi-Goal Path Planning Tasks Agent-based Computing for Autonomic Road Transport Support Systems
http://linked.open...UplatneniVysledku	2013
http://linked.open...iv/tvurceVysledku	Faigl, Jan Novák, Peter Vokřínek, Jiří Čáp, Michal Selecký, Martin
http://bibframe.org/vocab/doi	10.1109/IROS.2013.6696903
http://localhost/t...ganizacniJednotka	21230

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