Trabajo presentado al IROS celebrado en Taipei (Taiwan) del 18 al 22 de Octubre de 2010. ; This article presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. Unlike other methods, we consider situations where individuals can move freely and can escape from the formation, moreover they must be regrouped by multiple mobile robots working cooperatively. The problem is addressed by introducing a “Discrete Time Motion” model (DTM) and a new cost function that minimizes the work required by robots for leading and regrouping people. The guiding mission is carried out in urban areas containing multiple obstacles and building constraints. Furthermore, an analysis of forces actuating among robots and humans is presented throughout simulations of different situations of robot and human configurations and behaviors. ; This research was partially supported by CICYT projects DPI2007-61452 and Ingenio Consolider CSD2007-018, by CSIC project 200850I055 and by IST-045062 of European Community. The first author acknowledges Spanish FPU grant ref. AP2006-00825. ; Peer reviewed


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    Title :

    Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission


    Contributors:

    Publication date :

    2010-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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