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A Human-Inspired Collision Avoidance Method for Multi-robot and Mobile Autonomous Robots

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PRIMA 2013: Principles and Practice of Multi-Agent Systems (PRIMA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8291))

Abstract

In this paper a novel and dynamic rectangular roundabout (‘rectabout’) collision avoidance method based on human behaviour is presented for multiple, homogeneous, autonomous and mobile robots. The approach does not depend on priority schemes and instead involves only local views. There is therefore no need for inter-robot communication. The decentralized collision avoidance maneuver employs a virtual rectabout that allows each robot to re-plan its path. This maneuver is calculated independently by each robot involved in the possible collision. The virtual rectabout lies in the intersecting and conflicting position of two robot routes. Experimental simulations involving multi-robot systems indicate that virtual rectabouts ensure that all robots remain free of collision while attempting to follow their goal direction. Comparisons with a centralized collision detection and avoidance approach demonstrate no additional move costs. However, the advantages of rectabouts are that no inter-robot communication or centralized coordination is required, thereby cutting down significantly on communication and coordination overheads.

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Author information

Authors and Affiliations

  1. School of Computing and Mathematical Sciences, Auckland University of Technology, New Zealand

    Fan Liu & Ajit Narayanan

Authors
  1. Fan Liu
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  2. Ajit Narayanan
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Editor information

Editors and Affiliations

  1. Dipartimento di Informatica,, Università degli Studi di Torino, via Pessinetto 12,, 10149, Torino, Italy

    Guido Boella

  2. Division of Mathematical Sciences, Nanyang Technological University, Singapore

    Edith Elkind

  3. Department of Information Science, University of Otago, Dunedin, New Zealand

    Bastin Tony Roy Savarimuthu  & Martin K. Purvis  & 

  4. Department of Information and Computing Sciences, Utrecht University, Utrecht, The Netherlands

    Frank Dignum

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Liu, F., Narayanan, A. (2013). A Human-Inspired Collision Avoidance Method for Multi-robot and Mobile Autonomous Robots. In: Boella, G., Elkind, E., Savarimuthu, B.T.R., Dignum, F., Purvis, M.K. (eds) PRIMA 2013: Principles and Practice of Multi-Agent Systems. PRIMA 2013. Lecture Notes in Computer Science(), vol 8291. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-44927-7_13

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  • DOI: https://doi.org/10.1007/978-3-642-44927-7_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-44926-0

  • Online ISBN: 978-3-642-44927-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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