A Collision Prevention Technique for Multi-Agent Robot Systems with Topology Map
This paper proposes a novel collision prevention algorithm among multiple robots performing a single cooperative mission. In the proposed technique, individual robots perform their own tasks independently, but share a common geographical information, called topology map. Every time a robot encounters an intersection, it consults a central controller to find anew path and the central controller is responsible for finding a path that results in no collisions. In case that there are no such paths, the robot is forced to stay there for a while. The simulation results confirm that the proposed collision prevention technique safely removes the collisions in multi-agent robot missions.
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Document Type: Research Article
Affiliations: Department of ECE, Ajou University, Suwon, Republic of Korea
Publication date: November 1, 2016
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