Integrated motion planning and coordination for industrial vehicles

作者: Tansel Uras , Federico Pecora , Marcello Cirillo , Henrik Andreasson , Sven Koenig

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摘要: A growing interest in the industrial sector for autonomous ground vehicles has prompted significant investment fleet management systems. Such systems need to accommodate on-line externally imposed temporal and spatial requirements, adhere them even presence of contingencies. Moreover, a system should ensure correctness, i.e., refuse commit requirements that cannot be satisfied. We present an approach obtain sets alternative execution patterns (called trajectory envelopes) which provide these guarantees. The relies on constraint-based representation shared among multiple solvers, each progressively refines envelopes following least commitment principle.

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