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Cooperative Task Planning of Multi-Robot Systems with Temporal Constraints
Abstract This paper discusses a design methodology
This paper discusses a design methodology of cooperative trajectory generation for multi-robot systems. The trajectory of achieving cooperative tasks, i.e., with temporal constraints, is constructed by a nonlinear trajectory generation (NTG) algorithm. Three scenarios of multi-robot tasking are proposed at the cooperative task planning framework. The NTG algorithm is, then, used to generate real-time trajectory for desired robot activities. Given robot dynamics and constraints, the NTG algorithm first finds trajectory curves in a lower dimensional space and, then, parameterizes the curves by a set of B-spline representations. The coe�cients of the B-splines are further solved by the sequential quadratic programming to satisfy the optimization objectives and constraints. The NTG algorithm has been implemented to generate real-time trajectories for a group of cooperative robots in the presence of spatial and temporal constraints. Finally, an illustrated example of cooperative task planning with temporal constraints is presented.
ng with temporal constraints is presented.  +
Authors Feng-Li Lian and Richard M. Murray  +
ID 2002q  +
Source Submitted, 2003 International Conference on Robotics and Automation  +
Tag lm03-icra  +
Title Cooperative Task Planning of Multi-Robot Systems with Temporal Constraints +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:18:53  +
URL
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http://www.cds.caltech.edu/~murray/preprints/lm03-icra.pdf  +
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Cooperative Task Planning of Multi-Robot Systems with Temporal Constraints + Title
 

 

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