A discrete event formulation for multi-robot collision avoidance on pre-planned trajectories

• Main Authors: Deplano, Diego, Franceschelli, Mauro, Ware, Simon, Rong, Su, Giua, Alessandro
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Electrical and electronic engineering; Discrete Event System; Heuristic Solution
• Online Access: https://hdl.handle.net/10356/145712
• Institution: Nanyang Technological University

In this paper we consider the problem of collision avoidance among robots that follow pre-planned trajectories in a structured environment while minimizing the maximum traveling time among them. More precisely, we consider a discrete event formulation of this problem. Robots are modeled by automata,...