Author

Rami Yared

Published in

JAIST, 2006.

Abstract

The main contribution of this dissertation is providing a motion coordination platform that makes a system of mobile robots fail-safe independently of timeliness properties of the system. Mobile robots rely on this platform for their motion planning. The mobility coordination platform consists of time-free collision prevention protocols for an asynchronous system of cooperative mobile robots. The platform guarantees that no collision between robots can occur. In this dissertation, we analyze the performance of the protocols. A performance analysis provides insights for a proper dimensioning of system’s parameters in order to maximize the average effective speed of robots. We consider also the collision prevention in presence of robots failures by crash, and provide fault-tolerant collision prevention protocols that tolerate the crash of a certain number of robots. We consider two system models, closed group and dynamic group models.

Link to full paper

https://dspace.jaist.ac.jp/dspace/bitstream/10119/993/3/2914paper.pdf