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

Resultado de la investigación: Libro / Capitulo del libro / InformeLibros de Investigaciónrevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojada4th IEEE Colombian Conference on Automatic Control
Subtítulo de la publicación alojadaAutomatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
EditoresJose Garcia-Tirado, Diego Munoz-Durango, Hernan Alvarez, Hector Botero-Castro
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538669624
DOI
EstadoPublicada - oct. 2019
Evento4th IEEE Colombian Conference on Automatic Control, CCAC 2019 - Medellin, Colombia
Duración: 15 oct. 201918 oct. 2019

Serie de la publicación

Nombre4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings

Conferencia

Conferencia4th IEEE Colombian Conference on Automatic Control, CCAC 2019
País/TerritorioColombia
CiudadMedellin
Período15/10/1918/10/19

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