Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment

Jae Byung Park; Beom Hee Lee

doi:10.1007/978-3-540-73035-4_8

Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment

Jae Byung Park^*
, Beom Hee Lee

^*Corresponding author for this work

Division of Electronic Engineering

Seoul National University

Research output: Contribution to conference › Conference paper › peer-review

2 Scopus citations

Abstract

This paper proposes an approach to collision-free navigation for multiple moving agents in a smart home environment using the visibility map which is one of road maps. The visibility map plans collision-free paths of agents against stationary obstacles. The collision-free paths are represented by Hermite curves taking into consideration smoothness of the path and its first derivative. For collision-free motion planning among multiple moving agents, the collision map scheme proposed to effectively analyze collisions between two robots is employed. According to the result of the collision analysis, time scheduling is applied for realizing collision avoidance. Simulation results show the effectiveness and feasibility of the proposed approach in collision-free navigation of multiple moving agents.

Original language	English
Title of host publication	Pervasive Computing for Quality of Life Enhancement - 5th International Conference On Smart Homes and Health Telematics, ICOST 2007, Proceedings
Publisher	Springer Verlag
Pages	70-80
Number of pages	11
ISBN (Print)	9783540730347
DOIs	https://doi.org/10.1007/978-3-540-73035-4_8
State	Published - 2007
Event	5th International Conference on Smart Homes and Health Telematics, ICOST 2007 - Nara, Japan Duration: 2007.06.21 → 2007.06.23

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4541 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	5th International Conference on Smart Homes and Health Telematics, ICOST 2007
Country/Territory	Japan
City	Nara
Period	07.06.21 → 07.06.23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Collision-free motion planning
Multiple agents
Visibility map

Access to Document

10.1007/978-3-540-73035-4_8

Cite this

Park, J. B., & Lee, B. H. (2007). Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment. In Pervasive Computing for Quality of Life Enhancement - 5th International Conference On Smart Homes and Health Telematics, ICOST 2007, Proceedings (pp. 70-80). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4541 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-540-73035-4_8

Park, Jae Byung ; Lee, Beom Hee. / Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment. Pervasive Computing for Quality of Life Enhancement - 5th International Conference On Smart Homes and Health Telematics, ICOST 2007, Proceedings. Springer Verlag, 2007. pp. 70-80 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{ce73ee65c04546fd80e467d6890e0003,

title = "Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment",

abstract = "This paper proposes an approach to collision-free navigation for multiple moving agents in a smart home environment using the visibility map which is one of road maps. The visibility map plans collision-free paths of agents against stationary obstacles. The collision-free paths are represented by Hermite curves taking into consideration smoothness of the path and its first derivative. For collision-free motion planning among multiple moving agents, the collision map scheme proposed to effectively analyze collisions between two robots is employed. According to the result of the collision analysis, time scheduling is applied for realizing collision avoidance. Simulation results show the effectiveness and feasibility of the proposed approach in collision-free navigation of multiple moving agents.",

keywords = "Collision-free motion planning, Multiple agents, Visibility map",

author = "Park, \{Jae Byung\} and Lee, \{Beom Hee\}",

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doi = "10.1007/978-3-540-73035-4\_8",

language = "English",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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pages = "70--80",

booktitle = "Pervasive Computing for Quality of Life Enhancement - 5th International Conference On Smart Homes and Health Telematics, ICOST 2007, Proceedings",

note = "5th International Conference on Smart Homes and Health Telematics, ICOST 2007 ; Conference date: 21-06-2007 Through 23-06-2007",

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Park, JB & Lee, BH 2007, Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment. in Pervasive Computing for Quality of Life Enhancement - 5th International Conference On Smart Homes and Health Telematics, ICOST 2007, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4541 LNCS, Springer Verlag, pp. 70-80, 5th International Conference on Smart Homes and Health Telematics, ICOST 2007, Nara, Japan, 07.06.21. https://doi.org/10.1007/978-3-540-73035-4_8

Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment. / Park, Jae Byung; Lee, Beom Hee.
Pervasive Computing for Quality of Life Enhancement - 5th International Conference On Smart Homes and Health Telematics, ICOST 2007, Proceedings. Springer Verlag, 2007. p. 70-80 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4541 LNCS).

Research output: Contribution to conference › Conference paper › peer-review

TY - GEN

T1 - Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment

AU - Park, Jae Byung

AU - Lee, Beom Hee

PY - 2007

Y1 - 2007

N2 - This paper proposes an approach to collision-free navigation for multiple moving agents in a smart home environment using the visibility map which is one of road maps. The visibility map plans collision-free paths of agents against stationary obstacles. The collision-free paths are represented by Hermite curves taking into consideration smoothness of the path and its first derivative. For collision-free motion planning among multiple moving agents, the collision map scheme proposed to effectively analyze collisions between two robots is employed. According to the result of the collision analysis, time scheduling is applied for realizing collision avoidance. Simulation results show the effectiveness and feasibility of the proposed approach in collision-free navigation of multiple moving agents.

AB - This paper proposes an approach to collision-free navigation for multiple moving agents in a smart home environment using the visibility map which is one of road maps. The visibility map plans collision-free paths of agents against stationary obstacles. The collision-free paths are represented by Hermite curves taking into consideration smoothness of the path and its first derivative. For collision-free motion planning among multiple moving agents, the collision map scheme proposed to effectively analyze collisions between two robots is employed. According to the result of the collision analysis, time scheduling is applied for realizing collision avoidance. Simulation results show the effectiveness and feasibility of the proposed approach in collision-free navigation of multiple moving agents.

KW - Collision-free motion planning

KW - Multiple agents

KW - Visibility map

UR - https://www.scopus.com/pages/publications/37249046074

U2 - 10.1007/978-3-540-73035-4_8

DO - 10.1007/978-3-540-73035-4_8

M3 - Conference paper

AN - SCOPUS:37249046074

SN - 9783540730347

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 70

EP - 80

BT - Pervasive Computing for Quality of Life Enhancement - 5th International Conference On Smart Homes and Health Telematics, ICOST 2007, Proceedings

PB - Springer Verlag

T2 - 5th International Conference on Smart Homes and Health Telematics, ICOST 2007

Y2 - 21 June 2007 through 23 June 2007

ER -

Park JB, Lee BH. Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment. In Pervasive Computing for Quality of Life Enhancement - 5th International Conference On Smart Homes and Health Telematics, ICOST 2007, Proceedings. Springer Verlag. 2007. p. 70-80. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-540-73035-4_8

Roadmap-based collision-free motion planning for multiple moving agents in a smart home environment

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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