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This paper presents a navigation framework which ena-bles multiple mobile robots to attain individual goals, co-
 

Summary: Abstract
This paper presents a navigation framework which ena-
bles multiple mobile robots to attain individual goals, co-
ordinate their actions and work safely and reliably in a
highly dynamic environment. We give an overview of the
framework architecture, its layering and the subsystems
reactive obstacle avoidance, local path planning, global
path planning, multi-robot planning and localization. The
latter receives particular attention as the localization
problem is a key issue for navigation in unmodified and
difficult environments. The framework permits a light-
weight implementation on a fully autonomous robot. This
is the result of a design effort striving for compact repre-
sentations and computational efficiency.
The experimental testbed was the "Robotics" pavilion at
the Swiss National Exhibition Expo.02 where ten fully au-
tonomous robots were interacting with more than half a
million visitors during a five-month period on 3,316 km.
1. Introduction
Navigation responds to three questions: `where am I?',

  

Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg

 

Collections: Computer Technologies and Information Sciences