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Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission
dc.contributor.author | Garrell Zulueta, Anais |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2011-05-03T10:06:06Z |
dc.date.available | 2011-05-03T10:06:06Z |
dc.date.created | 2010 |
dc.date.issued | 2010 |
dc.identifier.citation | Garrell, A.; Sanfeliu, A. Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2010 IEEE/RSJ International Conference on Intelligent Robots and Systems". Taipei: 2010, p. 3294-3299. |
dc.identifier.uri | http://hdl.handle.net/2117/12452 |
dc.description.abstract | This article presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. Unlike other methods, we consider situations where individuals can move freely and can escape from the formation, moreover they must be regrouped by multiple mobile robots working cooperatively. The problem is addressed by introducing a “Discrete Time Motion” model (DTM) and a new cost function that minimizes the work required by robots for leading and regrouping people. The guiding mission is carried out in urban areas containing multiple obstacles and building constraints. Furthermore, an analysis of forces actuating among robots and humans is presented throughout simulations of different situations of robot and human configurations and behaviors. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Mobile robots |
dc.subject.lcsh | Multi-robot systems |
dc.subject.lcsh | Service robots |
dc.title | Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission |
dc.type | Conference report |
dc.subject.lemac | Robots mòbils |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/IROS.2010.5649009 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Mobile robots |
dc.relation.publisherversion | http://dx.doi.org/10.1109/IROS.2010.5649009 |
dc.rights.access | Open Access |
local.identifier.drac | 4969228 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Garrell, A.; Sanfeliu, A. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Taipei |
local.citation.publicationName | 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.startingPage | 3294 |
local.citation.endingPage | 3299 |