Name
Abstract | ||
|---|---|---|
This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow for the enforcement of desired interaction patterns in a provably safe (i.e., collision-free) manner, e.g., for achieving rich movement patterns in a shared space, or to exchange sensor information. We propose to specify interaction patterns through elements of the so-called braid group. This allows us to not focus on a particular pattern per se, but rather on the problem of being able to execute a whole class of patterns. The result from such a construction is a hybrid system driven by symbolic inputs that must be mapped onto actual paths that both realize the desired interaction levels and remain safe in the sense that collisions are avoided. |
Year | Venue | Field |
|---|---|---|
2015 | arXiv: Multiagent Systems | Motion planning,Braid,Abstraction,Shared space,Simulation,Computer science,Enforcement,Braid group,Robot,Hybrid system,Distributed computing |
DocType | Volume | Citations |
Journal | abs/1509.04826 | 0 |
PageRank | References | Authors |
0.34 | 6 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yancy Diaz-Mercado | 1 | 52 | 5.36 |
| Magnus Egerstedt | 2 | 2862 | 384.94 |