CUED Publications database

Lazy auctions for multi-robot collision avoidance and motion control under uncertainty

Calliess, JP and Lyons, D and Hanebeck, UD (2012) Lazy auctions for multi-robot collision avoidance and motion control under uncertainty. In: UNSPECIFIED pp. 295-312..

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Abstract

We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particle-based obstacle avoidance methods, offering a decentralized, auction-based alternative to previously established centralized approaches for multi-robot open-loop control. We illustrate the effectiveness of our new approach by presenting simulations of typical spatially-continuous multi-robot path-planning problems and derive bounds on the collision probability in the presence of uncertainty. © 2012 Springer-Verlag Berlin Heidelberg.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Subjects: UNSPECIFIED
Divisions: Div F > Computational and Biological Learning
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:05
Last Modified: 03 Aug 2017 03:22
DOI: