000078308 001__ 78308 000078308 005__ 20191212100659.0 000078308 0247_ $$2doi$$a10.1007/978-3-319-70836-2_65 000078308 0248_ $$2sideral$$a104624 000078308 037__ $$aART-2018-104624 000078308 041__ $$aeng 000078308 100__ $$0(orcid)0000-0002-3515-956X$$aMarchukov, Y.$$uUniversidad de Zaragoza 000078308 245__ $$aTrajectory Planning Under Time-Constrained Communication 000078308 260__ $$c2018 000078308 5060_ $$aAccess copy available to the general public$$fUnrestricted 000078308 5203_ $$aIn the present paper we address the problem of trajectory planning for scenarios in which some robot has to exchange information with other moving robots for at least a certain time, determined by the amount of information. We are particularly focused on scenarios where a team of robots must be deployed, reaching some locations to make observations of the environment. The information gathered by all the robots must be shared with an operation center (OP), thus some robots are devoted to retransmit to the OP the data of their teammates. We develop a trajectory planning method called Time-Constrained RRT (TC-RRT). It computes trajectories to reach the assigned primary goals, but subjected to the constraint determined by the need of communicating with another robot acting as moving relay, just during the time it takes to fulfill the data exchange. Against other methods in the literature, using this method it is not needed a task allocator to assign beforehand specific meeting points or areas for communication exchange, because the planner finds the best area to do it, simultaneously minimizing the time to reach the goal. Evaluation and limitations of the technique are presented for different system parameters. 000078308 536__ $$9info:eu-repo/grantAgreement/ES/DGA/T04-FSE$$9info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R 000078308 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000078308 592__ $$a0.174$$b2018 000078308 593__ $$aControl and Systems Engineering$$c2018$$dQ3 000078308 593__ $$aComputer Science (miscellaneous)$$c2018$$dQ3 000078308 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000078308 700__ $$0(orcid)0000-0002-0449-2300$$aMontano, L.$$uUniversidad de Zaragoza 000078308 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000078308 773__ $$g694 (2018), 794-806$$pAdv. intell. sys. comput.$$tAdvances in intelligent systems and computing$$x2194-5357 000078308 8564_ $$s1041430$$uhttps://zaguan.unizar.es/record/78308/files/texto_completo.pdf$$yPostprint 000078308 8564_ $$s60456$$uhttps://zaguan.unizar.es/record/78308/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000078308 909CO $$ooai:zaguan.unizar.es:78308$$particulos$$pdriver 000078308 951__ $$a2019-12-12-10:03:43 000078308 980__ $$aARTICLE