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Mission control: Local versus global modeling of robot tasking and routing

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1 Author(s)
Ralf Froehlich ; Institute of Automation, Hamburg University of Technology, 21071, Germany

This paper presents two modeling approaches for a cooperative control problem for a homogeneous team of robots acting on a cellular two-dimensional space which includes targets and obstacles. First a combinatorial assignment and scheduling approach is used to generate collision free trajectories for the robots. The second approach formulates the optimization problem of finding collision free and optimal trajectories using a receding horizon approach. This approach uses a sequence of optimization problems which are solved for a planning horizon which are then executed over a shorter action horizon. The two modeling approaches are tested and evaluated using illustrative simulation examples.

Published in:

2008 IEEE International Conference on Automation Science and Engineering

Date of Conference:

23-26 Aug. 2008