An Architecture for Multirobot Motion Coordination

F.M. Marchese (Italy)


Multirobot Systems, Motion Coordination, Motion Plan ning, Software Architecture


In this paper we present a layered architecture for multi robot motion coordination. The purpose is to control and coordinate autonomous mobile robot with generic shapes and kinematics in a priori known environment. It is a cen tralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them mov ing synchronously. The architecture is layered and mod ularized, where each module is realized with concurrent threads. The underlying motion planner is based on an Ar tiļ¬cial Potential Fields method applied on a discretized C Space-Time.

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