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

15 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

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10.1109/CEC.2019.8790205

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@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

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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 - https://www.scopus.com/pages/publications/85071298363

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DO - 10.1109/CEC.2019.8790205

M3 - Conference contribution

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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

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