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This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only local view and local information, a fully distributed multi-robot motion coordination strategy is proposed. Building on top of a cell decomposition, a conflict detection algorithm is presented first. Then, a rule is proposed to assign dynamically a planning order to each pair of neighboring robots, which is deadlock-free. Finally, a two-step motion planning process that combines fixed-path planning and trajectory planning is designed. The effectiveness of the resulting solution is verified by a simulation example.
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is subject t
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for static and dyn
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy applications, w
This paper presents a distributed optimization algorithm tailored for solving optimal control problems arising in multi-building coordination. The buildings coordinated by a grid operator, join a demand response program to balance the voltage surge b
Whole-body control (WBC) has been applied to the locomotion of legged robots. However, current WBC methods have not considered the intrinsic features of parallel mechanisms, especially motion/force transmissibility (MFT). In this work, we propose an