Title

Real-Time Tactical Motion Planning and Obstacle Avoidance for Multi-Robot Cooperative Reconnaissance

Document Type

Conference Proceeding

Publisher

IEEE

Faculty

Faculty of Computing, Health and Science

School

School of Computer and Security Science

RAS ID

15005

Comments

This article was originally published as: Boeing, A. , Pangeni, S., Braunl, T., & Lee, C. (2012). Real-Time Tactical Motion Planning and Obstacle Avoidance for Multi-Robot Cooperative Reconnaissance. Proceedings of IEEE International Conference on Systems, Man, and Cybernetics. (pp. 3117-3122). Seoul, Korea. IEEE . Original article available here

Abstract

A key requirement for any mobile robot is achieving safe motions. This is especially difficult in a large dynamic environment where hostile objects must be avoided with incomplete information. This paper presents a novel hierarchical architecture that Team MAGICian developed, which integrates multi-vehicle tactical planning, path planning, collision avoidance, trajectory generation and dynamic vehicle control. The system is designed for a fleet of six Unmanned Ground Vehicles (UGVs) executing an Intelligence, Surveillance and Reconnaissance (ISR) mission in a large urban environment for the Multi Autonomous Ground-robotic International Challenge (MAGIC 2010).

DOI

10.1109/ICSMC.2012.6378270

Access Rights

Not open access

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