Kooperative Pfadplanung für Multi-Robotersysteme in dynamischen Umgebungen
University of Kassel, Bachelor's Thesis, (March 2010)Abstract
A team of cooperating robots has various advantages compared to single robots. Sensor information can be shared within the team, extending the knowledge of each team member involved. Moreover, the team members can cooperate in trying to achieve their individual goals, thus increasing the performance of the whole team. This work targets at enabling these advantages for path planning. This is achieved by firstly exchanging and fusing sensor information and secondly by avoiding collisions using commonly known rules of behaviour. This work was developed and evaluated in the robotic soccer domain.
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