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  Multiple Robot Motion Planning = Parallel Processing + Geometry

Hert, S., & Richards, B. (2002). Multiple Robot Motion Planning = Parallel Processing + Geometry. In Sensor Based Intelligent Robots (pp. 183-205). Berlin, Germany: Springer.

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 Urheber:
Hert, Susan1, Autor           
Richards, Brad, Autor
Christensen, Henrik, Herausgeber
Hager, Greg, Herausgeber
Affiliations:
1Algorithms and Complexity, MPI for Informatics, Max Planck Society, ou_24019              

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 Zusammenfassung: We present two problems in multiple-robot motion planning that can be quite naturally solved using techniques from the parallel processing community to dictate how the robots interact with each other and techniques from computational geometry to apply these techniques in the geometric environment in which the robots operate. The first problem we consider is a load-balancing problem in which a pool of work must be divided among a set of processors in order to minimize the amount of time required to complete all the work. We describe a simple polygon partitioning algorithm that allows techniques from parallel processor scheduling to be applied in the multiple-robot setting in order to achieve a good balance of the work. The second problem is that of collision avoidance, where one must avoid that two (or more) processors occupy the same resource at the same time. For this problem, we describe a procedure for robot interaction that is derived from procedures used to shared-memory computers along with a geometric data structure that can efficiently determine when there are potential robot collisions.

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Sprache(n): eng - English
 Datum: 2003-08-272002
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: eDoc: 202056
Anderer: Local-ID: C1256428004B93B8-093AEDC50CC59658C1256A9C002B0A47-hr-mrmpipppg-01
 Art des Abschluß: -

Veranstaltung

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Titel: Sensor Based Intelligent Robots
Veranstaltungsort: Schloss Dagstuhl, Wadern, Germany
Start-/Enddatum: 2000-10-15 - 2000-10-20

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Titel: Sensor Based Intelligent Robots
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Berlin, Germany : Springer
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 183 - 205 Identifikator: -

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Titel: Lecture Notes in Computer Science
Genre der Quelle: Reihe
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: -
Seiten: - Band / Heft: 2238 Artikelnummer: - Start- / Endseite: - Identifikator: -