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Motion planning for multiple robots with multi-mode operations via disjunctive graphs

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題名: Motion planning for multiple robots with multi-mode operations via disjunctive graphs

作者: CF Lin;WH Tsai

貢獻者: Department of Information Communication 關鍵詞: collision avoidance

日期: 1991

上傳時間: 2009-11-17T11:12:56Z 出版者: Asia University

摘要: A new approach to motion planning for multiple robots with multi-mode operations is proposed. Although sharing a common workspace, the robots are assumed to perform periodical tasks independently. The goal is to schedule the motion trajectories of the robots so as to avoid collisions among them. The superiority of this approach is demonstrated with various robot operation requirements, including

"non-priority", "with-priority", and "multicycle" operation modes. Some techniques for speeding up the scheduling process are also presented.

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