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C-ABT: A continuous control layer for inter-agent collision avoidance based on asynchronous backtracking

Müller, Joachim and Viseras Ruiz, Alberto and Manß, Christoph and Wiedemann, Thomas (2015) C-ABT: A continuous control layer for inter-agent collision avoidance based on asynchronous backtracking. MSC 2015, 20-23 Sept 2015, Sydney, Australia. ISBN 978-1-4799-7786-4

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Abstract

When using multiple robotic agents for waypoint-based exploration or coverage tasks, collision avoidance between agents is an important issue. With a centralized planner, this issue arises only at one central instance. However, when using asynchronous and/or decentralized algorithms, decentralized methods for collision avoidance need to be used. We propose a novel approach based on the asynchronous backtracking (ABT) algorithm which provides decentralized constraint satisfaction called continuous ABT(C-ABT). C-ABT is a continuous extension to ABT intended as a collision avoidance layer for existing multi-agent waypoint navigation. It extends ABT in the sense that participating agents know when they found a valid solution. In this case, agents can safely move to their selected waypoints. While ABT only finds one static solution, C-ABT is suited for continuously provided new waypoints for all agents. By using the concept of local neighborhoods, C-ABT is also scalable to swarms of arbitrary size.

Item URL in elib:https://elib.dlr.de/97501/
Document Type:Conference or Workshop Item (Speech)
Title:C-ABT: A continuous control layer for inter-agent collision avoidance based on asynchronous backtracking
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Müller, Joachimjoachim.mueller (at) dlr.deUNSPECIFIED
Viseras Ruiz, Albertoalberto.viserasruiz (at) dlr.deUNSPECIFIED
Manß, Christophchristoph.manss (at) dlr.deUNSPECIFIED
Wiedemann, Thomasthomas.wiedemann (at) dlr.deUNSPECIFIED
Date:2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
ISBN:978-1-4799-7786-4
Status:Published
Keywords:ABT, Constraint Satisfaction, CSP, distributed, Multi-Agent
Event Title:MSC 2015
Event Location:Sydney, Australia
Event Type:international Conference
Event Dates:20-23 Sept 2015
Organizer:IEEE/CSS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old), R - Project Dependable Navigation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation
Deposited By: Müller, Joachim
Deposited On:05 Oct 2015 15:28
Last Modified:05 Oct 2015 15:28

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