Trajectory allocation algorithm for the positioning of multi-agent systems (MAS)

Daniel F.C. Leon, Carlos A.G. Forero, C. Nayibe Chio, A. Hernan Gonzalez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication4th IEEE Colombian Conference on Automatic Control
Subtitle of host publicationAutomatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
EditorsJose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538669624
DOIs
StatePublished - Oct 2019
Event4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia
Duration: 15 Oct 201918 Oct 2019

Publication series

Name4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conference

Conference4th IEEE Colombian Conference on Automatic Control, CCAC 2019
Country/TerritoryColombia
CityMedellin
Period15/10/1918/10/19

Keywords

  • Autonomous system
  • Differential drive robot
  • Mobile robotics
  • Task assignment

Fingerprint

Dive into the research topics of 'Trajectory allocation algorithm for the positioning of multi-agent systems (MAS)'. Together they form a unique fingerprint.

Cite this