Distributed Motion Planning for Ground Objects Using a Network of Robotic Ceiling Cameras
نویسندگان
چکیده
The problem consists in defining the precise sequence of rototranslations of a rigid holonomic object of arbitrary shape that has to be transported from an initial to a final location through a large, cluttered environment. We propose a distributed planning system modeled as a swarm of flying robots, each equipped with a camera and wireless communications, that are initially deployed in the environment and take static positions at the ceiling, forming a distributed camera network.
منابع مشابه
zePPeLIN: Ceiling camera networks for the distributed path planning of ground robots
We introduce zePPeLIN, a distributed system designed to address the challenges of path planning in large, cluttered, and dynamic environments. The objective is to define the sequence of instructions to move a ground object from an initial to a final configuration in the environment. zePPeLIN is based on a set of wirelessly networked devices, each equipped with a camera, deployed in environment....
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