Neural and automata networks: dynamical behavior and applications
Neural and automata networks: dynamical behavior and applications
Multilayered cellular automata
Theoretical Computer Science - Special issue: cellular automata
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Evolution of Parallel Cellular Machines: The Cellular Programming Approach
Evolution of Parallel Cellular Machines: The Cellular Programming Approach
Robot Motion Planning
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
Cellular ants: A method to create collision free trajectories for a cooperative robot team
Robotics and Autonomous Systems
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In this paper is described a fast Path-Planner for Multi-robot composed by mobile robots having generic shapes and sizes (user defined) and different kinematics. We have developed an algorithm that computes the shortest collision-free path for each robot, from the starting pose to the goal pose, while considering their real shapes, avoiding the collisions with the static obstacles and the other robots. It is based on a directional (anisotropic) propagation of attracting potential values in a 4D Space-Time, using a Multilayered Cellular Automata (MCA) architecture. This algorithm searches for all the optimal collision-free trajectories following the minimum valley of a potential hypersurface embedded in a 5D Time-Space.