Sequence-modification based collision-free motion planning of multiple robots workcell

Abstract

This work is inspired by the problem of planning multiple robots in a shared workspace. The goal is to find out a sequence order for coordinating the paths of robots so as to avoid collisions among them and deadlocks, that is, situations where each robot is waiting for the other to proceed. We assume that the workcell is known and the paths of robots can be… (More)
DOI: 10.1109/ROBIO.2016.7866478

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