<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>17</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%">L. E. Kavraki</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Safe and Distributed Kinodynamic Replanning for Vehicular networks</style></title><secondary-title><style face="normal" font="default" size="100%">ACM/Springer Mobile Networks and Applications (MONET)</style></secondary-title></titles><keywords><keyword><style  face="normal" font="default" size="100%">kavrakilab</style></keyword><keyword><style  face="normal" font="default" size="100%">kinodynamic/physics-based motion planning</style></keyword></keywords><dates><year><style  face="normal" font="default" size="100%">2009</style></year></dates><number><style face="normal" font="default" size="100%">3</style></number><volume><style face="normal" font="default" size="100%">14</style></volume><pages><style face="normal" font="default" size="100%">292–308</style></pages><abstract><style face="normal" font="default" size="100%">This work deals with the problem of planning collision-free motions for multiple communicating vehicles that operate in the same, partially-observable environment in real-time. 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 initially shows how it is possible to provide theoretical safety guarantees with a priority-based coordination scheme. Safety means avoiding collisions with obstacles and between vehicles. This notion is also extended to include the retainment of a communication network when the vehicles operate as a networked team. The paper then progresses to extend this safety framework into a fully distributed communication protocol for real-time planning. The proposed algorithm integrates 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. The theoretical results have also been experimentally confirmed with a distributed simulator built on a cluster of processors and using applications such as coordinated exploration. Furthermore, experiments show that the distributed protocol has better scalability properties when compared against the priority-based scheme.</style></abstract></record></records></xml>
