526 research outputs found
Multi-agent Path Planning and Network Flow
This paper connects multi-agent path planning on graphs (roadmaps) to network
flow problems, showing that the former can be reduced to the latter, therefore
enabling the application of combinatorial network flow algorithms, as well as
general linear program techniques, to multi-agent path planning problems on
graphs. Exploiting this connection, we show that when the goals are permutation
invariant, the problem always has a feasible solution path set with a longest
finish time of no more than steps, in which is the number of
agents and is the number of vertices of the underlying graph. We then give
a complete algorithm that finds such a solution in time, with
being the number of edges of the graph. Taking a further step, we study time
and distance optimality of the feasible solutions, show that they have a
pairwise Pareto optimal structure, and again provide efficient algorithms for
optimizing two of these practical objectives.Comment: Corrected an inaccuracy on time optimal solution for average arrival
tim
Design and Evaluation of a Traffic Safety System based on Vehicular Networks for the Next Generation of Intelligent Vehicles
La integración de las tecnologÃas de las telecomunicaciones en el sector del automóvil permitirá a los vehÃculos intercambiar información mediante Redes Vehiculares, ofreciendo numerosas posibilidades. Esta tesis se centra en la mejora de la seguridad vial y la reducción de la siniestralidad mediante Sistemas Inteligentes de Transporte (ITS). El primer paso consiste en obtener una difusión eficiente de los mensajes de advertencia sobre situaciones potencialmente peligrosas. Hemos desarrollado un marco para simular el intercambio de mensajes entre vehÃculos, utilizado para proponer esquemas eficientes de difusión. También demostramos que la disposición de las calles tiene gran influencia sobre la eficiencia del proceso. Nuestros algoritmos de difusión son parte de una arquitectura más amplia (e-NOTIFY) capaz de detectar accidentes de tráfico e informar a los servicios de emergencia. El desarrollo y evaluación de un prototipo demostró la viabilidad del sistema y cómo podrÃa ayudar a reducir el número de vÃctimas en carretera
Motion Planning for Unlabeled Discs with Optimality Guarantees
We study the problem of path planning for unlabeled (indistinguishable)
unit-disc robots in a planar environment cluttered with polygonal obstacles. We
introduce an algorithm which minimizes the total path length, i.e., the sum of
lengths of the individual paths. Our algorithm is guaranteed to find a solution
if one exists, or report that none exists otherwise. It runs in time
, where is the number of robots and is the total
complexity of the workspace. Moreover, the total length of the returned
solution is at most , where OPT is the optimal solution cost. To
the best of our knowledge this is the first algorithm for the problem that has
such guarantees. The algorithm has been implemented in an exact manner and we
present experimental results that attest to its efficiency
Optimization approaches for robot trajectory planning
[EN] The development of optimal trajectory planning algorithms for autonomous robots is a key issue in order to efficiently perform the robot tasks. This problem is hampered by the complex environment regarding the kinematics and dynamics of robots with several arms and/or degrees of freedom (dof), the design of collision-free trajectories and the physical limitations of the robots. This paper presents a review about the existing robot motion planning techniques and discusses their pros and cons regarding completeness, optimality, efficiency, accuracy, smoothness, stability, safety and scalability.Llopis-Albert, C.; Rubio, F.; Valero, F. (2018). Optimization approaches for robot trajectory planning. Multidisciplinary Journal for Education, Social and Technological Sciences. 5(1):1-16. doi:10.4995/muse.2018.9867SWORD1165
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