TY - JOUR
T1 - Trajectory allocation algorithm for the positioning of multi-agent systems (MAS)
AU - Leon, Daniel F.C.
AU - Forero, Carlos A.G.
AU - Nayibe Chio, C.
AU - Hernan Gonzalez, A.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - A multi-agent system, conformed by differential mobile robots, can execute many tasks. An example is the positioning of mobile robots in order to represent a 2D formation on the ground that represents a geometric shape. In this application, the mobile robots move to a position assigned by an algorithm. This algorithm assigns the 2D position that each mobile robot must achieve. This paper presents a methodology that defines seven criteria necessaries to compute a good 2D position assignation. Those criteria are based on the unweighted Euclidean distances between the robot's location and the desired position. They are also evaluated in order to select the criterion that allows all robots in the multi-agent system to move the shortest distance when performing a geometric representation. This means a reduction in the length of the path required by each mobile robot to complete the assigned task.
AB - A multi-agent system, conformed by differential mobile robots, can execute many tasks. An example is the positioning of mobile robots in order to represent a 2D formation on the ground that represents a geometric shape. In this application, the mobile robots move to a position assigned by an algorithm. This algorithm assigns the 2D position that each mobile robot must achieve. This paper presents a methodology that defines seven criteria necessaries to compute a good 2D position assignation. Those criteria are based on the unweighted Euclidean distances between the robot's location and the desired position. They are also evaluated in order to select the criterion that allows all robots in the multi-agent system to move the shortest distance when performing a geometric representation. This means a reduction in the length of the path required by each mobile robot to complete the assigned task.
KW - Autonomous system
KW - Differential drive robot
KW - Mobile robotics
KW - Task assignment
UR - http://www.scopus.com/inward/record.url?scp=85077962404&partnerID=8YFLogxK
U2 - 10.1109/CCAC.2019.8920875
DO - 10.1109/CCAC.2019.8920875
M3 - Artículo de la conferencia
AN - SCOPUS:85077962404
JO - 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
JF - 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
T2 - 4th IEEE Colombian Conference on Automatic Control, CCAC 2019
Y2 - 15 October 2019 through 18 October 2019
ER -