Trajectory Planning Under Time-Constrained Communication

Marchukov, Y. (Universidad de Zaragoza) ; Montano, L. (Universidad de Zaragoza)

Resumen: 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.

Idioma: Inglés

DOI: 10.1007/978-3-319-70836-2_65

Año: 2018

Publicado en: Advances in intelligent systems and computing 694 (2018), 794-806
ISSN: 2194-5357

Factor impacto SCIMAGO: 0.174 - Control and Systems Engineering (Q3) - Computer Science (miscellaneous) (Q3)

Financiación: info:eu-repo/grantAgreement/ES/DGA/T04-FSE
Financiación: info:eu-repo/grantAgreement/ES/MINECO-AEI-FEDER/DPI2016-76676-R

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)