Distributed approaches to motion planning and control in multi-robot systems
A multi-robot system is a system containing multiple robots which are moving around a given environment to accomplish tasks cooperatively. Motion planning and control is one of the most important issues in multi-robot systems. On one hand, as an individual, a robot is expected to make collision-free...
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sg-ntu-dr.10356-841812020-07-01T05:36:12Z Distributed approaches to motion planning and control in multi-robot systems Zhou, Yuan Lin Shang-Wei Liu Yang School of Computer Science and Engineering DRNTU::Engineering::Computer science and engineering A multi-robot system is a system containing multiple robots which are moving around a given environment to accomplish tasks cooperatively. Motion planning and control is one of the most important issues in multi-robot systems. On one hand, as an individual, a robot is expected to make collision-free motion under its own controller; on the other hand, as a whole system, a robot is expected to move cooperatively with others. Hence, in this thesis, we focus on distributed approaches to motion planning and control, which not only guarantee flexibility and scalability of the systems, but also allow negotiation among robots. Doctor of Philosophy 2019-05-14T04:28:32Z 2019-12-06T15:40:00Z 2019-05-14T04:28:32Z 2019-12-06T15:40:00Z 2019 Thesis Zhou, Y. (2019). Distributed approaches to motion planning and control in multi-robot systems. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/84181 http://hdl.handle.net/10220/48184 10.32657/10220/48184 en 234 p. application/pdf |
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Nanyang Technological University |
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NTU Library |
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Singapore |
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DR-NTU |
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English |
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DRNTU::Engineering::Computer science and engineering |
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DRNTU::Engineering::Computer science and engineering Zhou, Yuan Distributed approaches to motion planning and control in multi-robot systems |
| description |
A multi-robot system is a system containing multiple robots which are moving around a given environment to accomplish tasks cooperatively. Motion planning and control is one of the most important issues in multi-robot systems. On one hand, as an individual, a robot is expected to make collision-free motion under its own controller; on the other hand, as a whole system, a robot is expected to move cooperatively with others. Hence, in this thesis, we focus on distributed approaches to motion planning and control, which not only guarantee flexibility and scalability of the systems, but also allow negotiation among robots. |
| author2 |
Lin Shang-Wei |
| author_facet |
Lin Shang-Wei Zhou, Yuan |
| format |
Theses and Dissertations |
| author |
Zhou, Yuan |
| author_sort |
Zhou, Yuan |
| title |
Distributed approaches to motion planning and control in multi-robot systems |
| title_short |
Distributed approaches to motion planning and control in multi-robot systems |
| title_full |
Distributed approaches to motion planning and control in multi-robot systems |
| title_fullStr |
Distributed approaches to motion planning and control in multi-robot systems |
| title_full_unstemmed |
Distributed approaches to motion planning and control in multi-robot systems |
| title_sort |
distributed approaches to motion planning and control in multi-robot systems |
| publishDate |
2019 |
| url |
https://hdl.handle.net/10356/84181 http://hdl.handle.net/10220/48184 |
| _version_ |
1681057970245337088 |