A New Conflict Resolution Method for Multiple Mobile Robots in Cluttered Environments With Motion-Liveness

• Published in: IEEE transactions on cybernetics Vol. 48; no. 1; pp. 300 - 311
• Main Authors: Shahriari, Mohammadali, Biglarbegian, Mohammad
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.01.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Clustering; Collision avoidance; Computational efficiency; Computer simulation; Conflict resolution; Intersections; meta-heuristic optimization; Mobile robots; motion-liveness; multiple mobile robots (MMRs); Optimization; Parallel programming; Path planning; Real-time systems; Robot dynamics; Robot kinematics; Robots; System recovery; Travel time

This paper presents a new conflict resolution methodology for multiple mobile robots while ensuring their motion-liveness, especially for cluttered and dynamic environments. Our method constructs a mathematical formulation in a form of an optimization problem by minimizing the overall travel times o...