Abstract
The paper deals with the methods for detection and avoidance of collisions of autonomously moving vehicles utilizing the principles and techniques of multi-agent systems. Three different scenarios are discussed: (i) movement of AGVs in 2D space with fixed trajectories, (ii) movement of autonomous robots in an open 2D space and (iii) collision-free flights of unmanned aerial vehicles. For each category, an agent-based solution is proposed. Presented experiments show that the cooperative approach to detecting and avoiding collisions based on negotiation and goal sharing of agents, representing vehicles, seems to be highly efficient. The multi-layer architecture combining cooperative approach with algorithms based on dynamic no-access zones for avoiding non-cooperative vehicles provides good results in generating collision-free flight corridors.
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Vrba, P., Mařík, V., Přeučil, L., Kulich, M., Šišlák, D. (2007). Collision Avoidance Algorithms: Multi-agent Approach. In: Mařík, V., Vyatkin, V., Colombo, A.W. (eds) Holonic and Multi-Agent Systems for Manufacturing. HoloMAS 2007. Lecture Notes in Computer Science(), vol 4659. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74481-8_33
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DOI: https://doi.org/10.1007/978-3-540-74481-8_33
Publisher Name: Springer, Berlin, Heidelberg
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