<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Kostas E. Bekris</style></author><author><style face="normal" font="default" size="100%">Konstantinos I. Tsianos</style></author><author><style face="normal" font="default" size="100%">Lydia E. Kavraki</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">A Distributed Protocol for Safe Real-Time Planning of Communicating Vehicles with Second-Order Dynamics</style></title><secondary-title><style face="normal" font="default" size="100%">First International Conference on Robot Communication and Coordination (ROBOCOMM 07)</style></secondary-title></titles><keywords><keyword><style  face="normal" font="default" size="100%">distributed safe replanning</style></keyword><keyword><style  face="normal" font="default" size="100%">kavrakilab</style></keyword></keywords><dates><year><style  face="normal" font="default" size="100%">2007</style></year><pub-dates><date><style  face="normal" font="default" size="100%">Oct. 15-17</style></date></pub-dates></dates><pub-location><style face="normal" font="default" size="100%">Athens, Greece</style></pub-location><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">This work deals with the problem of planning in
                real-time, collision-free motions for multiple
                communicating vehicles that operate in the same,
                partially-observable environment. A challenging aspect
                of this problem is how to utilize communication so
                that vehicles do not reach states from which
                collisions cannot be avoided due to second-order
                motion constraints. This paper provides a distributed
                communication protocol for real-time planning that
                guarantees collision avoidance with obstacles and
                between vehicles. It can also allow the retainment of
                a communication network when the vehicles operate as a
                networked team. The algorithm is a novel integration
                of sampling-based motion planners with message-passing
                protocols for distributed constraint
                optimization. Each vehicle uses the motion planner to
                generate candidate feasible trajectories and the
                message-passing protocol for selecting a safe and
                compatible trajectory. The existence of such
                trajectories is guaranteed by the overall
                approach. Experiments on a distributed simulator built
                on a cluster of processors confirm the safety
                properties of the approach in applications such as
                coordinated exploration. Furthermore, the distributed
                protocol has better scalability properties when
                compared against typical priority-based schemes.</style></abstract><work-type><style face="normal" font="default" size="100%">inproceedings</style></work-type></record></records></xml>