A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots

Gina M. B. Oliveira; Reslley G. O. Silva; Giordano B. S. Ferreira; Micael S. Couceiro; Laurence R. Do Amaral; Patricia A. Vargas; Luiz Gustavo A. Martins

doi:10.1109/CEC.2019.8790205

A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots

Gina M. B. Oliveira, Reslley G. O. Silva, Giordano B. S. Ferreira, Micael S. Couceiro, Laurence R. Do Amaral, Patricia A. Vargas, Luiz Gustavo A. Martins

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

Abstract

This work proposes a cellular automata-based model to solve a path-planning and formation control problem for a team of robots using local rules and discrete states. Planning collision-free trajectories is essential for autonomous robots when moving in unknown environments. The complexity of this task increases in multi-robot systems, in particular when all robots must adjust their path in order to keep their initial team formation pattern. Here, a decentralized and autonomous robot team path-planning model is proposed and tested. The proposed method is implemented on a simulation environment and on real e-puck robots. Results show improvements in the overall team efficiency and robustness in different scenarios using minimal robot-robot communication load.

Original language	English
Title of host publication	2019 IEEE Congress on Evolutionary Computation (CEC)
Publisher	IEEE
Pages	739-746
Number of pages	8
ISBN (Electronic)	9781728121536
DOIs	https://doi.org/10.1109/CEC.2019.8790205
Publication status	Published - 8 Aug 2019
Event	2019 IEEE Congress on Evolutionary Computation - Wellington, New Zealand Duration: 10 Jun 2019 → 13 Jun 2019

Conference

Conference	2019 IEEE Congress on Evolutionary Computation
Abbreviated title	CEC 2019
Country/Territory	New Zealand
City	Wellington
Period	10/06/19 → 13/06/19

ASJC Scopus subject areas

Computational Mathematics
Modelling and Simulation

Access to Document

10.1109/CEC.2019.8790205

Cite this

@inproceedings{282f0d8c00654d949a24c4438785db69,

title = "A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots",

abstract = "This work proposes a cellular automata-based model to solve a path-planning and formation control problem for a team of robots using local rules and discrete states. Planning collision-free trajectories is essential for autonomous robots when moving in unknown environments. The complexity of this task increases in multi-robot systems, in particular when all robots must adjust their path in order to keep their initial team formation pattern. Here, a decentralized and autonomous robot team path-planning model is proposed and tested. The proposed method is implemented on a simulation environment and on real e-puck robots. Results show improvements in the overall team efficiency and robustness in different scenarios using minimal robot-robot communication load.",

author = "Oliveira, {Gina M. B.} and Silva, {Reslley G. O.} and Ferreira, {Giordano B. S.} and Couceiro, {Micael S.} and {Do Amaral}, {Laurence R.} and Vargas, {Patricia A.} and Martins, {Luiz Gustavo A.}",

year = "2019",

month = aug,

day = "8",

doi = "10.1109/CEC.2019.8790205",

language = "English",

pages = "739--746",

booktitle = "2019 IEEE Congress on Evolutionary Computation (CEC)",

publisher = "IEEE",

address = "United States",

note = "2019 IEEE Congress on Evolutionary Computation, CEC 2019 ; Conference date: 10-06-2019 Through 13-06-2019",

}

Oliveira, GMB, Silva, RGO, Ferreira, GBS, Couceiro, MS, Do Amaral, LR, Vargas, PA & Martins, LGA 2019, A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots. in 2019 IEEE Congress on Evolutionary Computation (CEC). IEEE, pp. 739-746, 2019 IEEE Congress on Evolutionary Computation, Wellington, New Zealand, 10/06/19. https://doi.org/10.1109/CEC.2019.8790205

TY - GEN

T1 - A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots

AU - Oliveira, Gina M. B.

AU - Silva, Reslley G. O.

AU - Ferreira, Giordano B. S.

AU - Couceiro, Micael S.

AU - Do Amaral, Laurence R.

AU - Vargas, Patricia A.

AU - Martins, Luiz Gustavo A.

PY - 2019/8/8

Y1 - 2019/8/8

N2 - This work proposes a cellular automata-based model to solve a path-planning and formation control problem for a team of robots using local rules and discrete states. Planning collision-free trajectories is essential for autonomous robots when moving in unknown environments. The complexity of this task increases in multi-robot systems, in particular when all robots must adjust their path in order to keep their initial team formation pattern. Here, a decentralized and autonomous robot team path-planning model is proposed and tested. The proposed method is implemented on a simulation environment and on real e-puck robots. Results show improvements in the overall team efficiency and robustness in different scenarios using minimal robot-robot communication load.

AB - This work proposes a cellular automata-based model to solve a path-planning and formation control problem for a team of robots using local rules and discrete states. Planning collision-free trajectories is essential for autonomous robots when moving in unknown environments. The complexity of this task increases in multi-robot systems, in particular when all robots must adjust their path in order to keep their initial team formation pattern. Here, a decentralized and autonomous robot team path-planning model is proposed and tested. The proposed method is implemented on a simulation environment and on real e-puck robots. Results show improvements in the overall team efficiency and robustness in different scenarios using minimal robot-robot communication load.

UR - http://www.scopus.com/inward/record.url?scp=85071298363&partnerID=8YFLogxK

U2 - 10.1109/CEC.2019.8790205

DO - 10.1109/CEC.2019.8790205

M3 - Conference contribution

SP - 739

EP - 746

BT - 2019 IEEE Congress on Evolutionary Computation (CEC)

PB - IEEE

T2 - 2019 IEEE Congress on Evolutionary Computation

Y2 - 10 June 2019 through 13 June 2019

ER -

A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots

Abstract

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this