Cooperative crossing of traffic intersections in a distributed robot system

Alexander Rausch; Norbert Oswald; Paul Levi

doi:10.1117/12.220960

15 September 1995 Cooperative crossing of traffic intersections in a distributed robot system

Alexander Rausch, Norbert Oswald, Paul Levi

Proceedings Volume 2589, Sensor Fusion and Networked Robotics VIII; (1995) https://doi.org/10.1117/12.220960
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

In traffic scenarios a distributed robot system has to cope with problems like resource sharing, distributed planning, distributed job scheduling, etc. While travelling along a street segment can be done autonomously by each robot, crossing of an intersection as a shared resource forces the robot to coordinate its actions with those of other robots e.g. by means of negotiations. We discuss the issue of cooperation on the design of a robot control architecture. Task and sensor specific cooperation between robots requires the robots' architectures to be interlinked at different hierarchical levels. Inside each level control cycles are running in parallel and provide fast reaction on events. Internal cooperation may occur between cycles of the same level. Altogether the architecture is matrix-shaped and contains abstract control cycles with a certain degree of autonomy. Based upon the internal structure of a cycle we consider the horizontal and vertical interconnection of cycles to form an individual architecture. Thereafter we examine the linkage of several agents and its influence on an interacting architecture. A prototypical implementation of a scenario, which combines aspects of active vision and cooperation, illustrates our approach. Two vision-guided vehicles are faced with line following, intersection recognition and negotiation.

Citation Download Citation

Alexander Rausch, Norbert Oswald, and Paul Levi "Cooperative crossing of traffic intersections in a distributed robot system", Proc. SPIE 2589, Sensor Fusion and Networked Robotics VIII, (15 September 1995); https://doi.org/10.1117/12.220960

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available