ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.29

Saska, Martin (Czech Technical University in Prague), Preucil, Libor (Czech Technical University in Prague), Vonasek, Vojtech (Czech Technical University in Prague)

Roads Sweeping by Unmanned Multi-Vehicle Formations

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Field Robots, Robust/Adaptive Control of Robotic Systems, Service Robots


A system for autonomous roads sweeping by applying formations of mobile robots is presented in this paper. The proposed approach based on Receding Horizon Control solves the formation navigation, planning and stabilization in real-word environments with static and dynamic obstacles. The formations employed for sweeping are built up ad-hoc, taking into account length of robots' effectors (e.g. shovels, sweepers) and width of the working area. Presented method enables to smoothly merge smaller teams with the view of sweeping the larger roads (e.g. runways, highways). The formations can operate in two modes: sweeping and moving. In the sweeping mode, the formations are guided with an aim to effectively cover the cleaning roads, while in the moving mode, the planning system emphasizes the effort to reach a desired target in a short time. Furthermore, the moving mode enables to autonomously design complex formation maneuvers, as is reverse driving or turning on spot.



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