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Ten autonomous mobile robots (and even more) in a route network like environment

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HAL Id: hal-01979400

https://hal.laas.fr/hal-01979400

Submitted on 12 Jan 2019

HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.

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Ten autonomous mobile robots (and even more) in a

route network like environment

Luis Aguilar, Rachid Alami, Sarah Fleury, Matthieu Herrb, Félix Ingrand,

Frédéric Robert

To cite this version:

Luis Aguilar, Rachid Alami, Sarah Fleury, Matthieu Herrb, Félix Ingrand, et al.. Ten autonomous mobile robots (and even more) in a route network like environment. Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 1995, Pittsburgh, United States. �hal-01979400�

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Lane 17 Lane 18 Lane 15 Lane 16 Area 1 Lane 1 Lane 2 Lane 13 Lane 14 Cross 1 Lane 11 Lane 12 Cross 2 Lane 9 Lane 10 Cross 3 Lane 3 Lane 4 Lane 7 Lane 8 Area 3 Area 2 Lane 5 Lane 6

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Refinement request Mission Robots synchronizations and Multi−robots trajectories Plan steps and Trajectories Plan merging request Reports Execution events Coordination plan Plan Mission supervisor Coordination supervisor and Plan merging protocole

Execution supervisor Plan−merging Planner Mission refinment Planner Mission layer Coordination layer Execution layer

Decisional level or Robot Supervisor

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Central Station robot j robot i proprioceptive sensors Environment Model Perceived Obstacles Current Position Motion Planner Position Monitoring AvoidanceLocal Motion Execution Communication Central Station proximetric sensors

client/server relation update poster read poster

FUNCTIONAL LEVEL PHYSICAL LEVEL DECISIONAL LEVEL External Perception Inter−Robots Communication sensors proximetric & effectors Robot Supervisor

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Workstation Central Station Workstation Graphic Visua− lisation Graphical simulation Real World experimentation

MP RS PER Robot COM AVOI MON ME MP RS PER Robot COM AVOI MON ME ... ... Unix Workstation

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