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Ten autonomous mobile robots (and even more) in a route network like environment

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6 Author(s)
Aguilar, L. ; Lab. d''Autom. et d''Anal. des Syst., CNRS, Toulouse, France ; Alami, R. ; Fleury, S. ; Herrb, M.
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This paper presents an implemented system which allows one to run a fleet of autonomous mobile robots in a route network with a very limited centralized activity. The robots are provided with all the necessary ingredients for planning and executing navigation missions in a multi-robot context. Multi-robot cooperation is based on a generic paradigm called plan-merging paradigm, where robots incrementally merge their plans into a set of already coordinated plans. The robot architecture is derived from the generic architecture developed at LAAS. A 3D graphic environment system allows one to display a complete system composed of a dozen (or more) robots, each running on an independent workstation. An example is presented together with numerical results on the system behavior

Published in:

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

5-9 Aug 1995