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Online Distributed Motion Planning for Mobile Multi-robot Systems

José Mendes Filho 1, 2 
2 LRI - Laboratoire de Robotique Interactive
DIASI - Département Intelligence Ambiante et Systèmes Interactifs : DRT/LIST/DIASI
Abstract : Two main objectives for this thesis can be identified: - Develop a multi-robot system composed by autonomous mobile robots capable of performing complex tasks in a dynamic, partially known environment; - Ensure the safety of goods and a proper interaction human-robot in their shared work environment. To that purpose a 3 layer solution is proposed containing : - Control law - Motion planner - Task planner Each layer is validated firstly in simulation and secondly in a real experiment using mobile platforms such as TurtleBots. The found results will be analysed with respect to requirements derived from the objectives stated at the beginning.
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Submitted on : Tuesday, March 10, 2020 - 11:23:09 AM
Last modification on : Wednesday, May 11, 2022 - 3:20:03 PM
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  • HAL Id : tel-02503778, version 1


José Mendes Filho. Online Distributed Motion Planning for Mobile Multi-robot Systems. Automatic Control Engineering. Institut Polytechnique de Paris, 2019. English. ⟨NNT : 2019IPPAE007⟩. ⟨tel-02503778⟩



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