78308 20191212100659.0 doi 10.1007/978-3-319-70836-2_65 sideral 104624 ART-2018-104624 eng (orcid)0000-0002-3515-956X Marchukov, Y. Universidad de Zaragoza Trajectory Planning Under Time-Constrained Communication 2018 Access copy available to the general public Unrestricted In 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. info:eu-repo/grantAgreement/ES/DGA/T04-FSE info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 0.174 2018 Control and Systems Engineering 2018 Q3 Computer Science (miscellaneous) 2018 Q3 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion (orcid)0000-0002-0449-2300 Montano, L. Universidad de Zaragoza 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 694 (2018), 794-806 Adv. intell. sys. comput. Advances in intelligent systems and computing 2194-5357 1041430 http://zaguan.unizar.es/record/78308/files/texto_completo.pdf Postprint 60456 http://zaguan.unizar.es/record/78308/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:78308 articulos driver 2019-12-12-10:03:43 ARTICLE