Cooperative minimum expected length planning for robot formations in stochastic maps

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• 作者：Pablo Urcola ; ^{urcola@unizar.es}Author Vitae ; Marí ; a T. Lá ; zaro ^{mtlazaro@unizar.es}Author Vitae ; José ; A. Castellanos ^{jacaste@unizar.es}Author Vitae ; Luis Montano ^{montano@unizar.es}Author Vitae
• 关键词：Planning under uncertainty ; Stochastic maps ; Cooperative formations localization and navigation ; Hybrid architecture
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：87
• 期：Complete
• 页码：38-50
• 全文大小：1574 K
• 卷排序：87

文摘

A global path planning that minimizes the expected length in a stochastic map. A cooperative sensor-based local re-planning in the stochastic map. A multi-vehicle consistent localization (robot pose tracking) in stochastic maps built from the multiple views of the robots. A hybrid centralized–distributed architecture, using real-time wireless communication.