Title :
Provably Correct Closed-Loop Control for Multiple Mobile Robot Systems
Author :
Roszkowska, Elzbieta
Author_Institution :
Institute of Engineering Cybernetics, Wroclaw University of Technology, Poland ekr@pwr.wroc.pl
Abstract :
This paper introduces and advocates a new approach to the coordination of the motion of multiple mobile robots. In contrast to the current literature solutions, based on the execution of off-line generated plans, this work develops a state-based, closed-loop control mechanism ensuring in a provable manner the correct concurrent robot movement. The concept consists of partitioning the robots’ paths into sectors and allowing each robot to move freely within a sector, whereas sector crossing is guarded with a real-time policy that guarantees collision and deadlock avoidance.
Keywords :
Multiple mobile robot system; closed-loop control; collision avoidance; deadlock avoidance; Collision avoidance; Control systems; Mobile robots; Motion planning; Open loop systems; Orbital robotics; Path planning; Robot kinematics; System recovery; Trajectory; Multiple mobile robot system; closed-loop control; collision avoidance; deadlock avoidance;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570539