Collision Avoidance in Multi-Robot Systems

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ConferenceThe 2007 IEEE International Conference on Mechatronics and Automation (ICMA 2007), August 5-8, 2007., Harbin, Heilongjiang, China
AbstractMulti-robot systems have been widely applied to various applications to perform a given task collaboratively and cooperatively. In a multi-robot environment, path-planning or collision avoidance is an important problem. This paper tackles this important but challenging problem. We developed a step-forward approach for collision avoidance in multi-robot systems, building on the established techniques from omni-directional vision systems, automatic control, and dynamic programming. The developed collision avoidance algorithms can help avoid the collision from any static obstacles and any dynamic objects such as a moving robot. In this paper, we report the developed collision avoidance algorithms, along with simulation-based experimental results. The results show that the collision avoidance strategies are effective and useful for making decisions on collision avoidance in multi-robot systems.
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AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedNo
NRC number49826
NPARC number8913670
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Record identifierab0081cc-540c-485d-8e3f-1b1f6d7bf33c
Record created2009-04-22
Record modified2016-05-09
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