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A Collision Prevention Technique for Multi-Agent Robot Systems with Topology Map

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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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Keywords: Collision Prevention; Deadlock; Multi-Robot; Topology Map

Document Type: Research Article

Affiliations: Department of ECE, Ajou University, Suwon, Republic of Korea

Publication date: November 1, 2016

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  • ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
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