Federico Pecora and Marcello Cirillo
A Constraint-Based Approach for Multiple Non-Holonomic Vehicle Coordination in Industrial Scenarios
Proc. ICAPS 2012 Workshop on Combinining Task and Motion Planning for Real World Applications
Abstract: Autonomous vehicles are already widely used in industrial logistic settings. However, applications still lack flexibility, and many steps of the deployment process are hand-crafted by specialists. Here, we preset a new, modular paradigm which can fully solve logistic problems for AGVs, from high-level task planning to vehicle control. In particular, we focus on a new method for multi-robot coordination which does not rely on pre-defined traffic rules and in which feasible and collision-free trajectories are calculated for every vehicle according to mission specifications. Also, our solutions can be adapted on-line to exogenous events, control failures, or changes in mission requirements.
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@INPROCEEDINGS{Pecora_Cirillo:ICAPS:TAMPRA:2012,
  AUTHOR = {Pecora, Federico and Cirillo, Marcello},
  TITLE = {A Constraint-Based Approach for Multiple Non-Holonomic Vehicle Coordination in Industrial Scenarios},
  BOOKTITLE = {Proceedings of the ICAPS 2012 Workshop on Combining Task and Motion Planning for Real-World Applications (TAMPRA)},
  YEAR = {2012},
  ADRESS = {Atibadia, Brazil},
  PAGES = {45--52}
}