Conflict Resolutions for Trajectory Co-ordination of Multiple Mobile Robots

机译：多个移动机器人轨迹协调的冲突解决方案

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Prioritized planning approaches are commonly used for finding coordinated trajectories for multiple robots so as to prevent collision among multiple robots. Classical methods for the same fail to solve the problem instance when there are conflict situations. In this paper, we analyze such conflict situations and offer heuristic solutions for the multiple robots to reach their destination or goal positions. The contributions in this paper are: (1) Identification of conflict situations where classical prioritized path planning methods failed to provide deterministic solution. (2) Propose heuristic solutions for overcoming the conflict situations.

机译：优先计划方法通常用于查找多个机器人的协调轨迹，以防止多个机器人之间发生碰撞。当存在冲突情况时，相同的经典方法无法解决问题实例。在本文中，我们分析了这种冲突情况，并为多个机器人到达目的地或目标位置提供了启发式解决方案。本文的贡献是：（1）识别冲突情况，其中传统的优先路径规划方法无法提供确定性的解决方案。（2）提出启发式解决方案以克服冲突情况。

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《International Conference on Computer Communication and Informatics》|2019年|1-4|共4页
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Ram Kishan Dewangan; W. Wilfred Godfrey; Anupam Shukla;
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Robot kinematics; Collision avoidance; Planning; Trajectory; Informatics;

机译：机器人运动学;避免碰撞;规划;轨迹;信息学;

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1. On repelling robotic trajectories: coordination in navigation of multiple mobile robots [J] . Kala Rahul Intelligent Service Robotics . 2018,第1期

机译：在排斥机器人轨迹：多个移动机器人导航中的协调
2. Mobile Robots Path Planning Using the Overall Conflict Resolution and Time Baseline Coordination [J] . YongMa, HongweiWang, LangxiongGan, Mathematical Problems in Engineering: Theory, Methods and Applications . 2014,第a期

机译：移动机器人路径规划，使用整体冲突解决和时间基线协调
3. Coordinated Selection and Timing of Multiple Trajectories of Discretely Mobile Robots [J] . Keerthi Sagar, Jesus H. Lugo, Rezia Molfino, Procedia Computer Science . 2018,第1期

机译：离散移动机器人多轨迹的协调选择与计时
4. Conflict Resolutions for Trajectory Co-ordination of Multiple Mobile Robots [C] . Ram Kishan Dewangan, W. Wilfred Godfrey, Anupam Shukla International Conference on Computer Communication and Informatics . 2019

机译：用于多个移动机器人的轨迹协调的冲突决议
5. Trajectory control of flexible link robots, overhead cranes and mobile robots in formation. [D] . Liang, Yi. 2006

机译：编队中的柔性链接机器人，桥式起重机和移动机器人的轨迹控制。
6. Development and Testing of Psychological Conflict Resolution Strategies for Assertive Robots to Resolve Human–Robot Goal Conflict [O] . Franziska Babel, Johannes M. Kraus, Martin Baumann 2020

机译：对自信机器人解决人机目标冲突的心理冲突解决策略的开发和测试
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。
8. Robot work crews for planetary outposts: close cooperation and coordination of multiple mobile robots [R] . Schenker, P. S., Huntsberger, T. L., Pirjanian, P., 2001

机译：行星前哨的机器人工作人员：多个移动机器人的密切合作和协调

Conflict Resolutions for Trajectory Co-ordination of Multiple Mobile Robots

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