Lazy auctions for multi-robot collision avoidance and motion control under uncertainty
We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particle-based obstacle avoidance methods,...
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| Published in | Proceedings of the 10th international conference on Advanced Agent Technology pp. 295 - 312 |
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| Main Authors | , , |
| Format | Conference Proceeding |
| Language | English |
| Published |
Berlin, Heidelberg
Springer-Verlag
02.05.2011
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| Series | ACM Conferences |
| Online Access | Get full text |
| ISBN | 9783642272158 3642272150 |
| DOI | 10.1007/978-3-642-27216-5_21 |
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| Abstract | We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particle-based obstacle avoidance methods, offering a decentralized, auction-based alternative to previously established centralized approaches for multi-robot open-loop control. We illustrate the effectiveness of our new approach by presenting simulations of typical spatially-continuous multi-robot path-planning problems and derive bounds on the collision probability in the presence of uncertainty. |
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| AbstractList | We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particle-based obstacle avoidance methods, offering a decentralized, auction-based alternative to previously established centralized approaches for multi-robot open-loop control. We illustrate the effectiveness of our new approach by presenting simulations of typical spatially-continuous multi-robot path-planning problems and derive bounds on the collision probability in the presence of uncertainty. |
| Author | Calliess, Jan-P. Lyons, Daniel Hanebeck, Uwe D. |
| Author_xml | – sequence: 1 givenname: Jan-P. surname: Calliess fullname: Calliess, Jan-P. email: jan@robots.ox.ac.uk organization: Dept. of Engineering Science, University of Oxford, UK – sequence: 2 givenname: Daniel surname: Lyons fullname: Lyons, Daniel organization: Intelligent Sensor-Actuator-Systems Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany – sequence: 3 givenname: Uwe D. surname: Hanebeck fullname: Hanebeck, Uwe D. organization: Intelligent Sensor-Actuator-Systems Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany |
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| ContentType | Conference Proceeding |
| DOI | 10.1007/978-3-642-27216-5_21 |
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| Editor | Weyns, Danny Hattori, Hiromitsu Dechesne, Francien Mors, Adriaan Such, Jose Miguel |
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| Title | Lazy auctions for multi-robot collision avoidance and motion control under uncertainty |
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