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 proceedingConference contribution

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.

LanguageEnglish
Title of host publication2019 IEEE Congress on Evolutionary Computation (CEC)
PublisherIEEE
Pages739-746
Number of pages8
ISBN (Electronic)9781728121536
DOIs
Publication statusPublished - 8 Aug 2019
Event2019 IEEE Congress on Evolutionary Computation - Wellington, New Zealand
Duration: 10 Jun 201913 Jun 2019

Conference

Conference2019 IEEE Congress on Evolutionary Computation
Abbreviated titleCEC 2019
CountryNew Zealand
CityWellington
Period10/06/1913/06/19

Fingerprint

Cellular automata
Path Planning
Motion planning
Cellular Automata
Decentralized
Robot
Robots
Autonomous Robots
Multi-robot Systems
Formation Control
Pattern Formation
Simulation Environment
Control Problem
Collision
Planning
Trajectory
Robustness
Unknown
Scenarios
Path

ASJC Scopus subject areas

  • Computational Mathematics
  • Modelling and Simulation

Cite this

Oliveira, G. M. B., Silva, R. G. O., Ferreira, G. B. S., Couceiro, M. S., Do Amaral, L. R., Vargas, P. A., & Martins, L. G. A. (2019). A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots. In 2019 IEEE Congress on Evolutionary Computation (CEC) (pp. 739-746). IEEE. https://doi.org/10.1109/CEC.2019.8790205
Oliveira, Gina M. B. ; Silva, Reslley G. O. ; Ferreira, Giordano B. S. ; Couceiro, Micael S. ; Do Amaral, Laurence R. ; Vargas, Patricia A. ; Martins, Luiz Gustavo A. / A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots. 2019 IEEE Congress on Evolutionary Computation (CEC). IEEE, 2019. pp. 739-746
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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.",
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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

A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots. / Oliveira, Gina M. B.; Silva, Reslley G. O.; Ferreira, Giordano B. S.; Couceiro, Micael S.; Do Amaral, Laurence R.; Vargas, Patricia A.; Martins, Luiz Gustavo A.

2019 IEEE Congress on Evolutionary Computation (CEC). IEEE, 2019. p. 739-746.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Oliveira GMB, Silva RGO, Ferreira GBS, Couceiro MS, Do Amaral LR, Vargas PA et al. A Cellular Automata-Based Path-Planning for a Cooperative and Decentralized Team of Robots. In 2019 IEEE Congress on Evolutionary Computation (CEC). IEEE. 2019. p. 739-746 https://doi.org/10.1109/CEC.2019.8790205