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Multi-vehicle path coordination in support of communication

Multi-vehicle path coordination in support of communication,10.1109/ROBOT.2009.5152787,Pramod Abichandani,Hande Y. Benson,Moshe Kam

Multi-vehicle path coordination in support of communication   (Citations: 5)
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This paper presents a framework for gener- ating time-optimal velocity profiles for a group of path- constrained vehicle robots that have fixed and known initial and goal locations and are required to maintain communication connectivity. Each robot must follow a fixed and known path, arrive at its goal as quickly as possible (or at least not increase the time for the last robot to arrive at its goal) and stay in communication with other robots in the arena throughout its journey. The main contribution of this paper is the formulation of the problem as a discrete time nonlinear programming problem (NLP) with constraints on robot kinematics, dynamics, collision avoidance, and communication connectivity. We develop Partition Elimination constraints that assist in ensuring that the communication network is fully connected (no network partitions). These constraints are enforced only when net- work partitions would otherwise occur, an approach which significantly reduces the problem size and the required computational effort. In addition, we introduce path-constrained jammer robots with known paths and velocity profiles into the scenario. These jammer robots have an effective jamming range and disrupt all communications within this range. Except for the jammers, all robots must remain outside this jamming range at all times. We investigate the scalability of the proposed approach by testing scenarios involving up to fifty (50) robots. Solutions demonstrate (i) the trade off between the arrival time and the communication connectivity requirements in scenarios with and without jamming; and (ii) the dependence of computation time on the number of robots.
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    • ...Recently, the coordination problem was extensively investigated by considering the communication constraint [28] to minimize the completion time...
    • ...Moreover, the method considers the formation requirement and hence extends solutions to the coordination problem in [24] and [28]...
    • ...It is generally assumed that the curvature of the designed path is small enough such that the angular speed corresponding to the optimal speed is always achievable [28]...

    Shuang Liuet al. Coordinated Motion Planning for Multiple Mobile Robots Along Designed ...

    • ...Recently, the coordination was extended by considering the communication constraint [15] to minimize the completion time...
    • ...<{[SECTION]}>to the optimal speed is always achievable [15]...

    Shuang Liuet al. Motion planning of multirobot formation

    • ...The path coordination problem was further formulated by considering the communication constraint [13] to minimize the completion time...
    • ...achievable [13]. Note that both the angular and linear velocities are presented as functions of the travel distance i in (4)...

    Shuang Liuet al. Motion planning of multiple mobile robots with formation requirement

    • ...A related work in the formulation has been proposed in [13], in which the problem of path coordination is formulated as a Mixed Integer Non-Linear Programming problem, and the formulation was further extended subject to communication constraint in [14]...
    • ...Generally, it is assumed that the curvature of the designed path is small enough such that the angular speed corresponding to the optimal speed is always achievable [14]...
    • ...To show the performance of the proposed approach in reducing the formation errors, simulation with the optimization goal in [14] was further performed for comparison...
    • ...The following optimization goal [14] was used...
    • ...This goal forces on the reduction of the distance between the robots’ current locations and the goal positions [14]...
    • ...However, formation constraint was not considered in [14]...

    Shuang Liuet al. Coordinated motion planning of multiple mobile robots in formation

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