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Multi-robot motion planning: A modified receding horizon approach for reaching goal states

José Mendes Filho 1 Eric Lucet 1
1 LRI - Laboratoire de Robotique Interactive
DIASI - Département Intelligence Ambiante et Systèmes Interactifs : DRT/LIST/DIASI
Abstract : This paper proposes the real-time implementation of an algorithm for collision-free motion planning based on a receding horizon approach, for the navigation of a team of mobile robots in presence of obstacles of different shapes. The method is simulated with three robots. Impact of parameters is studied with regard to computation time, obstacle avoidance and travel time.
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https://hal-cea.archives-ouvertes.fr/cea-03314713
Contributor : Eric Lucet Connect in order to contact the contributor
Submitted on : Thursday, August 5, 2021 - 11:23:34 AM
Last modification on : Monday, August 9, 2021 - 3:22:35 AM
Long-term archiving on: : Saturday, November 6, 2021 - 6:17:40 PM

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José Mendes Filho, Eric Lucet. Multi-robot motion planning: A modified receding horizon approach for reaching goal states. IROS 2015 Workshop on On-line decision-making in multi-robot coordination (DEMUR'15), Sep 2015, Hamburg, Germany. ⟨cea-03314713⟩

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