Stéphane Leroy

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|This paper presents a geometric based approach for multiple mobile robot motion coordination 1. All the robot paths being computed independently, we address the problem of coordinating the motion of the robots along their path in such a way they do not collide each other. The proposed algorithm is based on a bounding box representation of the obstacles in(More)
This paper presents a geometric based approach for multiple mobile robot motion coordination. All the robot paths being computed independently, we address the problem of coordinating the motion of the robots along their own path in such a way they do not collide each other. The proposed algorithm is based on a bounding box representation of the obstacles in(More)
Several schemes have been proposed in the path planning-literature to plan collision-free and feasible trajectories for non-holonomic mobile robots. A classical scheme is the two-step approach proposed in 4, 8, 5] which consists in rst computing a collision-free holonomic path, and then in transforming this path by a sequence of feasible ones. The quality(More)
This paper presents a geometric algorithm dealing with collision checking in the framework of multiple mobile robot coordination. We consider that several mobile robots have planned their own collision-free path by taking into account the obstacles, but ignoring the presence of other robots. We rst compute the domain swept by each robot when moving along(More)
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