Multi-Robot Cooperation through Incremental Plan-Merging
نویسندگان
چکیده
This paper presents an approach we have recently developed for multi robot cooperation It is based on a paradigm where robots incrementally merge their plans into a set of already coordinated plans This is done through exchange of informa tion about their current state and their future actions This leads to a generic framework which can be applied to a variety of tasks and applications The paradigm called Plan Merging Paradigm is presented and illus trated through its application to planning execution and control of a large eet of a autonomous mobile robots for load transport tasks in a structured envi ronment
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