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Open Access item Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission

Authors:Garrell, Anaís
Sanfeliu, Alberto
Issue Date:2010
Publisher:Institute of Electrical and Electronics Engineers
Citation:IEEE/RSJ International Conference on Intelligent Robots and Systems: 3294-3299 (2010)
Abstract:This article presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. Unlike other methods, we consider situations where individuals can move freely and can escape from the formation, moreover they must be regrouped by multiple mobile robots working cooperatively. The problem is addressed by introducing a “Discrete Time Motion” model (DTM) and a new cost function that minimizes the work required by robots for leading and regrouping people. The guiding mission is carried out in urban areas containing multiple obstacles and building constraints. Furthermore, an analysis of forces actuating among robots and humans is presented throughout simulations of different situations of robot and human configurations and behaviors.
Description:Trabajo presentado al IROS celebrado en Taipei (Taiwan) del 18 al 22 de Octubre de 2010.
Publisher version (URL):http://dx.doi.org/10.1109/IROS.2010.5649009
Appears in Collections:(IRII) Libros y partes de libros

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