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Multi-robot cooperation through incremental plan-merging

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4 Author(s)
Alami, R. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Robert, F. ; Ingrand, F. ; Suzuki, S.

This paper presents an approach we have recently developed for multi-robot cooperation. It is based on a paradigm where robots incrementally merge their plans into a set of already coordinated plans. This is done through exchange of information about their current state and their future actions. This leads to a generic framework which can be applied to a variety of tasks and applications. The paradigm, called plan-merging paradigm, is presented and illustrated through its application to planning, execution and control of a large fleet of a autonomous mobile robots for load transport tasks in a structured environment

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995