The productivity of groups can be increased by enabling group members to share their perceptions of the environment. We adapt this concept for mobile robots by presenting an object-oriented approach to a shared environmental model. The objects are stored in a graph, which saves memory and computing power and allows the representation of hierarchical and topological relationships. Each object can contain geometric and semantic data as well as information about its current, past, and planned or estimated future movements. An example application shows that modeling future motion can prevent collisions.
Development of a Shared Environment Model with Dynamic Trajectory Representation for Multiple Mobile Robots
Annals of Scientific Society for Assembly, Handling and Industrial Robotics ; Chapter : 5 ; 45-55
2020-07-21
11 pages
Article/Chapter (Book)
Electronic Resource
English
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