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https://dspace.upt.ro/xmlui/handle/123456789/3862
Titlu: | A multi-robot path planner for a disabled person assistance system: a framework [articol] |
Autori: | Pradel, Gilbert Saïdi, Francois |
Subiecte: | Multi-robot Cooperation Disabled person Path planner |
Data publicării: | 2004 |
Editura: | Timişoara : Editura Politehnica |
Citare: | Pradel, Gilbert. A multi-robot path planner for a disabled person assistance system: a framework. Timişoara: Editura Politehnica, 2004 |
Serie/Nr. raport: | Buletinul ştiinţific al Universităţii „Politehnica” din Timişoara, România. Seria electronică şi telecomunicaţii, Tom 49(63), fasc. 1 (2004), p. 241-248 |
Abstract: | This work aims at modelling a system which allows a user and more particularly a disabled person, to give a mission to a team of robots and to determine the whole process leading to its execution. This paper proposes a participative model to set up this system. We separate the actor: active element subjected to the stimulus (the user and its request, for example), the objective form: object designed in the mind of the actor, the object: element satisfying and corresponding to the satisfaction of the stimulus. In agreement with this model, the system is based on a several levels diagram for a design directed towards a multi-agents system. In this paper, we mainly describe the four stages of the mechanism which lead to the trajectory determination of the robots group. These steps use a Voronoï’s generalized graph and a wave front algorithm. The computation of the configuration space for a robot group and an adaptation of the group trajectory allow the group to be formed and reach the final position. |
URI: | http://primo.upt.ro:1701/primo-explore/search?query=any,contains,A%20multi-robot%20path%20planner%20for%20a%20disabled%20person%20assistance%20system:%20a%20framework&tab=default_tab&search_scope=40TUT&vid=40TUT_V1&lang=ro_RO&offset=0 Link Primo |
Colecţia: | Articole științifice/Scientific articles |
Fişierele documentului:
Fişier | Descriere | Mărime | Format | |
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BUPT_ART_Pradel_f.pdf | 822.83 kB | Adobe PDF | Vizualizare/Deschidere |
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