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Preprints, Working Papers, ... Year : 2014

Priority-based coordination of robots

Jean Gregoire
  • Function : Author
  • PersonId : 942058
Silvère Bonnabel
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  • PersonId : 866182


This paper addresses the problem of coordinating multiple robots travelling through an intersection along fixed paths with positive velocities and kinodynamic constraints. The approach relies on a novel tool: a priority graph that encodes the relative order of the robots at the intersection. The overall planning approach can be decomposed into two key components as follows. The entry of robots into the intersection is managed by an intersection controller that assigns priorities. Within the intersection area, robots are controlled by a control law that preserves assigned priorities, avoids collisions, and is robust to unexpected decelerations of some robots occurring randomly.
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Dates and versions

hal-00828976 , version 1 (01-06-2013)
hal-00828976 , version 2 (04-06-2013)
hal-00828976 , version 3 (05-05-2014)


  • HAL Id : hal-00828976 , version 3


Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle. Priority-based coordination of robots. 2014. ⟨hal-00828976v3⟩
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