A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control

@inproceedings{Pecora2018ALA,
  title={A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control},
  author={Federico Pecora and Henrik Andreasson and Masoumeh Mansouri and Vilian Petkov},
  booktitle={ICAPS},
  year={2018}
}
Deploying fleets of autonomous robots in real-world applications requires addressing three problems: motion planning, coordination, and control. Application-specific features of the environment and robots often narrow down the possible motion planning and control methods that can be used. This paper proposes a lightweight coordination method that implements a high-level controller for a fleet of potentially heterogeneous robots. Very few assumptions are made on robot controllers, which are… CONTINUE READING

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