Multi-robot cooperation through incremental plan-merging

• DOI: 10.1109/robot.1995.525645
• Publication Date: 2002-11-19T21:11:47Z
• Authors: R. Alami; F. Robert; F. Ingrand; S. Suzuki
• Keywords: Merge (version control)

This paper presents an approach we have recently developed for multi-robot cooperation. It is based on a paradigm where robots incrementally merge their plans into set of already coordinated plans. done through exchange information about current state and future actions. leads to generic framework which can be applied variety tasks applications. The paradigm, called plan-merging presented illustrated its application planning, execution control large fleet autonomous mobile load transport in structured environment.