WP5 Applied Telematic Planning

 Tasks:

1. Analysis and research of control and planning for AGV entities
2. Research about plan transfer to living entities
3. Research of the planning algorithms for multiple autonomous or semi-autonomous entities working in changing environment and using incomplete information
4. Implementation and testing of algorithms

The cooperative planning is highly complex task that needs to be specified more precisely. In our project the planning is done for the hybrid system that consists from Teleoperating center, Telematic eneties and Data connection between these subjects. It's supposed that the map of the environment is incomplete and not precise. In addition the environment is dynamic that means it can change with time. The planning algorithm plan the path for each entity so, that every point in the environment can be visible by at least one entity. The length of the longest path is to be minimized. This leads to two problems:

• off-line planning over a known map
• on-line plan modification

Result of off-line planning for 3 entities and known environment

 Project documentation can be found at http://labe.felk.cvut.cz/~pelote/downloads.html