The multi-Robot box-pushing problem in cluttered environments has demonstrated to be a very complex problem with multiple practical applications. In this document we present a new strategy to solve it, inspired in the wavefront algorithm which it also includes some pertinent modifications to obtain trajectories that facilitate the box displacement for non-holonomic mobile robots. The proposed method obtains its benefits by the reduction of route distances, reducing the direction changes in the routes, and by searching the best pushing points for robots.


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    Title :

    Cooperative Multi-robot Box-Pushing in a Cluttered Environment




    Publication date :

    2008-09-01


    Size :

    1160697 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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