Multi AGV coordination tolerant to communication failures
Main Author: | |
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Publication Date: | 2021 |
Other Authors: | , , |
Format: | Article |
Language: | eng |
Source: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Download full: | http://hdl.handle.net/10198/27444 |
Summary: | Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot’s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot’s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results. |
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Multi AGV coordination tolerant to communication failuresMulti-AGV controlPath planningTimed enhanced A*Tolerance to communication faultsMost path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot’s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot’s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results.MDPIBiblioteca Digital do IPBMatos, DiogoCosta, PedroLima, JoséCosta, Paulo Gomes da2023-03-03T12:17:03Z20212021-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10198/27444engMatos, Diogo; Costa, Pedro; Lima, José; Costa, Paulo (2021). Multi AGV coordination tolerant to communication failures. Robotics. 10:210.3390/robotics10020055info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-21T11:00:35Zoai:bibliotecadigital.ipb.pt:10198/27444Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:17:38.759107Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Multi AGV coordination tolerant to communication failures |
title |
Multi AGV coordination tolerant to communication failures |
spellingShingle |
Multi AGV coordination tolerant to communication failures Matos, Diogo Multi-AGV control Path planning Timed enhanced A* Tolerance to communication faults |
title_short |
Multi AGV coordination tolerant to communication failures |
title_full |
Multi AGV coordination tolerant to communication failures |
title_fullStr |
Multi AGV coordination tolerant to communication failures |
title_full_unstemmed |
Multi AGV coordination tolerant to communication failures |
title_sort |
Multi AGV coordination tolerant to communication failures |
author |
Matos, Diogo |
author_facet |
Matos, Diogo Costa, Pedro Lima, José Costa, Paulo Gomes da |
author_role |
author |
author2 |
Costa, Pedro Lima, José Costa, Paulo Gomes da |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
Biblioteca Digital do IPB |
dc.contributor.author.fl_str_mv |
Matos, Diogo Costa, Pedro Lima, José Costa, Paulo Gomes da |
dc.subject.por.fl_str_mv |
Multi-AGV control Path planning Timed enhanced A* Tolerance to communication faults |
topic |
Multi-AGV control Path planning Timed enhanced A* Tolerance to communication faults |
description |
Most path planning algorithms used presently in multi-robot systems are based on offline planning. The Timed Enhanced A* (TEA*) algorithm gives the possibility of planning in real time, rather than planning in advance, by using a temporal estimation of the robot’s positions at any given time. In this article, the implementation of a control system for multi-robot applications that operate in environments where communication faults can occur and where entire sections of the environment may not have any connection to the communication network will be presented. This system uses the TEA* to plan multiple robot paths and a supervision system to control communications. The supervision system supervises the communication with the robots and checks whether the robot’s movements are synchronized. The implemented system allowed the creation and execution of paths for the robots that were both safe and kept the temporal efficiency of the TEA* algorithm. Using the Simtwo2020 simulation software, capable of simulating movement dynamics and the Lazarus development environment, it was possible to simulate the execution of several different missions by the implemented system and analyze their results. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021 2021-01-01T00:00:00Z 2023-03-03T12:17:03Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10198/27444 |
url |
http://hdl.handle.net/10198/27444 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Matos, Diogo; Costa, Pedro; Lima, José; Costa, Paulo (2021). Multi AGV coordination tolerant to communication failures. Robotics. 10:2 10.3390/robotics10020055 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
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application/pdf |
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MDPI |
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MDPI |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
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RCAAP |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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