Predictive and cooperative online motion planning: a contribution to networked mobile robot navigation in industrial applications
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| 1. Verfasser: | |
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| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Stuttgart
Fraunhofer Verlag
[2019]
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| Schriftenreihe: | Stuttgarter Beiträge zur Produktionsforschung
93 |
| Schlagworte: | |
| Online-Zugang: | Inhaltstext Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | xvii, 144 Seiten Illustrationen, Diagramme 21 cm |
| ISBN: | 9783839615317 3839615313 |
Internformat
MARC
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| 100 | 1 | |a Garcia Lopez, Felipe |e Verfasser |0 (DE-588)1203732783 |4 aut | |
| 245 | 1 | 0 | |a Predictive and cooperative online motion planning |b a contribution to networked mobile robot navigation in industrial applications |c Felipe Garcia Lopez |
| 264 | 1 | |a Stuttgart |b Fraunhofer Verlag |c [2019] | |
| 300 | |a xvii, 144 Seiten |b Illustrationen, Diagramme |c 21 cm | ||
| 336 | |b txt |2 rdacontent | ||
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| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Stuttgarter Beiträge zur Produktionsforschung |v 93 | |
| 502 | |b Dissertation |c Universität Stuttgart |d 2019 | ||
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Datensatz im Suchindex
| _version_ | 1804184617883795456 |
|---|---|
| adam_text | CONTENTS
ABBREVIATIONS
XIII
LIST
OF
FIGURES
XIV
LIST
OF
TABLES
XVII
1
INTRODUCTION
1
1.1
MOTIVATION
.............................................................................................................
2
1.2
PROBLEM
DESCRIPTION
...........................................................................................
4
1.3
CONTRIBUTION
..........................................................................................................
5
1.3.1
OBJECTIVES
OF
THIS
WORK
............................................................................
5
1.3.2
APPROACH
.................................................................................................
6
1.3.3
IMPLEMENTATION
AND
EVALUATION
.............................................................
8
1.3.4
PUBLICATION
AND
COLLABORATION
NOTES
....................................................
10
1.3.5
OUTLINE
....................................................................................................
11
2
FUNDAMENTALS
AND
LITERATURE
REVIEW
12
2.1
FORMALIZING
THE
MOTION
PLANNING
PROBLEM
FOR
MOBILE
ROBOTS
............................
12
2.1.1
GEOMETRIC
MODELING
...............................................................................
13
2.1.2
DIFFERENTIAL
AND
KINEMATIC
MODELING
....................................................
17
2.1.3
FORMULATION
OF
THE
MOTION
PLANNING
PROBLEM
........................................
21
2.2
OPTIMAL
CONTROL
.....................................................................................................
22
2.2.1
OPTIMAL
CONTROL
PROBLEMS
..........................................................................
22
2.2.2
SOLUTION
METHODS
.........................................................................................
23
2.2.3
NONLINEAR
MODEL
PREDICTIVE
CONTROL
..........................................................
25
2.3
MOBILE
ROBOT
NAVIGATION
.........................................................................................
26
2.3.1
NAVIGATION
COMPONENTS
.............................................................................
26
2.3.2
CLOUD-BASED
NAVIGATION
FRAMEWORKS
.......................................................
31
2.3.3
COOPERATIVE
MULTI-ROBOT
NAVIGATION
.......................................................
32
IX
CONTENTS
3
SYSTEM
ARCHITECTURE
35
3.1
A
CONCEPT
FOR
NETWORKED
NAVIGATION
....................................................................
35
3.1.1
A
SERVER-BASED
NAVIGATION
ARCHITECTURE
.................................................
36
3.1.2
COOPERATIVE
ENVIRONMENT
MODELING
AND
LOCALIZATION
............................
37
3.1.3
COOPERATIVE
GLOBAL
PATH
PLANNING
...........................................................
39
3.2
COOPERATIVE
ONLINE
TRAJECTORY
OPTIMIZATION
.......................................................
41
3.2.1
MOTION
PLANNING
ARCHITECTURE
....................................................................
41
3.2.2
A
DUAL
APPROACH
FOR
PREDICTIVE
LOCAL
TRAJECTORY
PLANNING
...............
43
3.2.3
IMPLEMENTATION
OF
THE
COMMUNICATION
ARCHITECTURE
...............................
44
4
ELASTIC-BAND
CORRIDOR
PLANNING
IN
CONFIGURATION-TIME
SPACE
47
4.1
FREE
SPACE
BUBBLES
IN
CONFIGURATION-TIME
SPACE
..............................................
47
4.2
MODIFYING
THE
FREE
SPACE
CORRIDOR
.......................................................................
49
4.2.1
INTERNAL
TRAJECTORY
FORCES
..........................................................................
50
4.2.2
REGULAR
EXTERNAL
FORCES
.............................................................................
50
4.2.3
EXTERNAL
FORCES
FOR
COLLISIONS
WITH
DYNAMIC
OBSTACLES
.........................
52
4.2.4
COOPERATIVE
FORCES
......................................................................................
54
4.3
PRESERVING
CONNECTIVITY
OF
THE
CORRIDOR
.................................................................
55
4.3.1
INSERTING
BUBBLES
INTO
THE
CORRIDOR
..........................................................
55
4.3.2
REMOVING
BUBBLES
FROM
THE
CORRIDOR
........................................................
56
4.4
AN
ALGORITHM
FOR
OPTIMIZING
THE
FREE
SPACE
CORRIDOR
........................................
57
4.5
IMPLEMENTATION
DETAILS
............................................................................................
59
4.5.1
OBSTACLE
MODELING
......................................................................................
59
4.5.2
REGULAR
AND
DYNAMIC
EXTERNAL
FORCES
....................................................
60
4.5.3
DYNAMIC
INDUCED
TANGENTIAL
FORCES
...........................................................
62
4.5.4
COOPERATIVE
FORCES
......................................................................................
63
4.6
EVALUATING
COLLISIONS
WITH
DYNAMIC
OBSTACLES
....................................................
65
5
MODEL
PREDICTIVE
TRAJECTORY
PLANNING
66
5.1
OPTIMAL
CONTROL
PROBLEM
FORMULATION
................................................................
66
5.1.1
SYSTEM
MODELS
............................................................................................
67
5.1.2
PATH
CONSTRAINTS
BY
THE
FREE
SPACE
CORRIDOR
.............................................
69
5.1.3
OPTIMIZING
TIME
INSIDE
THE
FREE
SPACE
CORRIDOR
.......................................
72
5.1.4
PROBLEM
FORMULATION
...................................................................................
73
5.2
NUMERICAL
SOLUTION
METHOD
...................................................................................
75
5.2.1
SELECTION
OF
THE
SOLUTION
METHOD
..............................................................
75
5.2.2
DIRECT
MULTIPLE
SHOOTING
.............................................................................
76
5.2.3
SEQUENTIAL
QUADRATIC
PROGRAMMING
...........................................................
77
X
CONTENTS
5.3
AN
ALGORITHM
FOR
LOCAL
TRAJECTORY
PLANNING
.......................................................
78
5.3.1
MODEL
PREDICTIVE
CONTROL
SETUP
AND
PROCEDURE
.....................................
78
5.3.2
INITIALIZING
THE
MODEL
PREDICTIVE
CONTROL
ALGORITHM
...............................
80
5.3.3
INITIALIZING
THE
NUMERICAL
SOLUTION
METHOD
..............................................
82
5.3.4
NOTES
ON
THE
TRAJECTORY
CONTROLLER
...........................................................
84
6
VALIDATION
AND
EVALUATION
85
6.1
DEMONSTRATORS
...........................................................................................................
85
6.1.1
INDUSTRIAL
MOBILE
SERVICE
ROBOTS
..............................................................
85
6.1.2
SIMULATION
.....................................................................................................
87
6.1.3
LOCAL
PLANNER
CONFIGURATION
.......................................................................
88
6.2
SINGLE-ROBOT
LOCAL
PLANNING
...................................................................................
90
6.2.1
EXPERIMENTS:
NAVIGATING
IN
AN
OFFICE
ENVIRONMENT
...............................
91
6.2.2
EXPERIMENTS:
REACTIVE
AVOIDANCE
OF
QUASI-STATIC
OBSTACLES
.................
93
6.2.3
EXPERIMENTS:
REACTIVE
AVOIDANCE
OF
DYNAMIC
OBSTACLES
........................
94
6.2.4
EXPERIMENTS:
BASIC
MOTIONS
FOR
DIFFERENT
KINEMATICS
.............................
98
6.3
MULTI-ROBOT
LOCAL
PLANNING
.................................................................................
102
6.3.1
EXPERIMENTS:
PATH-CROSSING
SCENARIOS
WITH
2
ROBOTS
...........................
103
6.3.2
EXPERIMENTS:
INTERSECTION
SCENARIOS
WITH
4
ROBOTS
..............................
110
6.3.3
EXPERIMENTS:
INTERSECTION
SCENARIOS
WITH
6
AND
8
ROBOTS
.....................
115
6.4
COMPUTATION
TIMES
AND
CPU
CONSUMPTIONS
......................................................
119
7
CONCLUSION
AND
OUTLOOK
120
7.1
CONCLUSION
...............................................................................................................
120
7.2
OUTLOOK
..................................................................................................................
121
BIBLIOGRAPHY
125
XI
|
| adam_txt |
CONTENTS
ABBREVIATIONS
XIII
LIST
OF
FIGURES
XIV
LIST
OF
TABLES
XVII
1
INTRODUCTION
1
1.1
MOTIVATION
.
2
1.2
PROBLEM
DESCRIPTION
.
4
1.3
CONTRIBUTION
.
5
1.3.1
OBJECTIVES
OF
THIS
WORK
.
5
1.3.2
APPROACH
.
6
1.3.3
IMPLEMENTATION
AND
EVALUATION
.
8
1.3.4
PUBLICATION
AND
COLLABORATION
NOTES
.
10
1.3.5
OUTLINE
.
11
2
FUNDAMENTALS
AND
LITERATURE
REVIEW
12
2.1
FORMALIZING
THE
MOTION
PLANNING
PROBLEM
FOR
MOBILE
ROBOTS
.
12
2.1.1
GEOMETRIC
MODELING
.
13
2.1.2
DIFFERENTIAL
AND
KINEMATIC
MODELING
.
17
2.1.3
FORMULATION
OF
THE
MOTION
PLANNING
PROBLEM
.
21
2.2
OPTIMAL
CONTROL
.
22
2.2.1
OPTIMAL
CONTROL
PROBLEMS
.
22
2.2.2
SOLUTION
METHODS
.
23
2.2.3
NONLINEAR
MODEL
PREDICTIVE
CONTROL
.
25
2.3
MOBILE
ROBOT
NAVIGATION
.
26
2.3.1
NAVIGATION
COMPONENTS
.
26
2.3.2
CLOUD-BASED
NAVIGATION
FRAMEWORKS
.
31
2.3.3
COOPERATIVE
MULTI-ROBOT
NAVIGATION
.
32
IX
CONTENTS
3
SYSTEM
ARCHITECTURE
35
3.1
A
CONCEPT
FOR
NETWORKED
NAVIGATION
.
35
3.1.1
A
SERVER-BASED
NAVIGATION
ARCHITECTURE
.
36
3.1.2
COOPERATIVE
ENVIRONMENT
MODELING
AND
LOCALIZATION
.
37
3.1.3
COOPERATIVE
GLOBAL
PATH
PLANNING
.
39
3.2
COOPERATIVE
ONLINE
TRAJECTORY
OPTIMIZATION
.
41
3.2.1
MOTION
PLANNING
ARCHITECTURE
.
41
3.2.2
A
DUAL
APPROACH
FOR
PREDICTIVE
LOCAL
TRAJECTORY
PLANNING
.
43
3.2.3
IMPLEMENTATION
OF
THE
COMMUNICATION
ARCHITECTURE
.
44
4
ELASTIC-BAND
CORRIDOR
PLANNING
IN
CONFIGURATION-TIME
SPACE
47
4.1
FREE
SPACE
BUBBLES
IN
CONFIGURATION-TIME
SPACE
.
47
4.2
MODIFYING
THE
FREE
SPACE
CORRIDOR
.
49
4.2.1
INTERNAL
TRAJECTORY
FORCES
.
50
4.2.2
REGULAR
EXTERNAL
FORCES
.
50
4.2.3
EXTERNAL
FORCES
FOR
COLLISIONS
WITH
DYNAMIC
OBSTACLES
.
52
4.2.4
COOPERATIVE
FORCES
.
54
4.3
PRESERVING
CONNECTIVITY
OF
THE
CORRIDOR
.
55
4.3.1
INSERTING
BUBBLES
INTO
THE
CORRIDOR
.
55
4.3.2
REMOVING
BUBBLES
FROM
THE
CORRIDOR
.
56
4.4
AN
ALGORITHM
FOR
OPTIMIZING
THE
FREE
SPACE
CORRIDOR
.
57
4.5
IMPLEMENTATION
DETAILS
.
59
4.5.1
OBSTACLE
MODELING
.
59
4.5.2
REGULAR
AND
DYNAMIC
EXTERNAL
FORCES
.
60
4.5.3
DYNAMIC
INDUCED
TANGENTIAL
FORCES
.
62
4.5.4
COOPERATIVE
FORCES
.
63
4.6
EVALUATING
COLLISIONS
WITH
DYNAMIC
OBSTACLES
.
65
5
MODEL
PREDICTIVE
TRAJECTORY
PLANNING
66
5.1
OPTIMAL
CONTROL
PROBLEM
FORMULATION
.
66
5.1.1
SYSTEM
MODELS
.
67
5.1.2
PATH
CONSTRAINTS
BY
THE
FREE
SPACE
CORRIDOR
.
69
5.1.3
OPTIMIZING
TIME
INSIDE
THE
FREE
SPACE
CORRIDOR
.
72
5.1.4
PROBLEM
FORMULATION
.
73
5.2
NUMERICAL
SOLUTION
METHOD
.
75
5.2.1
SELECTION
OF
THE
SOLUTION
METHOD
.
75
5.2.2
DIRECT
MULTIPLE
SHOOTING
.
76
5.2.3
SEQUENTIAL
QUADRATIC
PROGRAMMING
.
77
X
CONTENTS
5.3
AN
ALGORITHM
FOR
LOCAL
TRAJECTORY
PLANNING
.
78
5.3.1
MODEL
PREDICTIVE
CONTROL
SETUP
AND
PROCEDURE
.
78
5.3.2
INITIALIZING
THE
MODEL
PREDICTIVE
CONTROL
ALGORITHM
.
80
5.3.3
INITIALIZING
THE
NUMERICAL
SOLUTION
METHOD
.
82
5.3.4
NOTES
ON
THE
TRAJECTORY
CONTROLLER
.
84
6
VALIDATION
AND
EVALUATION
85
6.1
DEMONSTRATORS
.
85
6.1.1
INDUSTRIAL
MOBILE
SERVICE
ROBOTS
.
85
6.1.2
SIMULATION
.
87
6.1.3
LOCAL
PLANNER
CONFIGURATION
.
88
6.2
SINGLE-ROBOT
LOCAL
PLANNING
.
90
6.2.1
EXPERIMENTS:
NAVIGATING
IN
AN
OFFICE
ENVIRONMENT
.
91
6.2.2
EXPERIMENTS:
REACTIVE
AVOIDANCE
OF
QUASI-STATIC
OBSTACLES
.
93
6.2.3
EXPERIMENTS:
REACTIVE
AVOIDANCE
OF
DYNAMIC
OBSTACLES
.
94
6.2.4
EXPERIMENTS:
BASIC
MOTIONS
FOR
DIFFERENT
KINEMATICS
.
98
6.3
MULTI-ROBOT
LOCAL
PLANNING
.
102
6.3.1
EXPERIMENTS:
PATH-CROSSING
SCENARIOS
WITH
2
ROBOTS
.
103
6.3.2
EXPERIMENTS:
INTERSECTION
SCENARIOS
WITH
4
ROBOTS
.
110
6.3.3
EXPERIMENTS:
INTERSECTION
SCENARIOS
WITH
6
AND
8
ROBOTS
.
115
6.4
COMPUTATION
TIMES
AND
CPU
CONSUMPTIONS
.
119
7
CONCLUSION
AND
OUTLOOK
120
7.1
CONCLUSION
.
120
7.2
OUTLOOK
.
121
BIBLIOGRAPHY
125
XI |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Garcia Lopez, Felipe |
| author_GND | (DE-588)1203732783 |
| author_facet | Garcia Lopez, Felipe |
| author_role | aut |
| author_sort | Garcia Lopez, Felipe |
| author_variant | l f g lf lfg |
| building | Verbundindex |
| bvnumber | BV048584947 |
| classification_tum | FER 988 FER 982 FER 986 |
| ctrlnum | (OCoLC)1139492484 (DE-599)DNB1203899068 |
| dewey-full | 629.8932 629.89251 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 629.89251 |
| dewey-search | 629.8932 629.89251 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV048584947 |
| illustrated | Illustrated |
| index_date | 2024-07-03T21:06:05Z |
| indexdate | 2024-07-10T09:42:12Z |
| institution | BVB |
| institution_GND | (DE-588)4786605-6 |
| isbn | 9783839615317 3839615313 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-033960726 |
| oclc_num | 1139492484 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM |
| owner_facet | DE-91G DE-BY-TUM |
| physical | xvii, 144 Seiten Illustrationen, Diagramme 21 cm |
| publishDate | 2019 |
| publishDateSearch | 2019 |
| publishDateSort | 2019 |
| publisher | Fraunhofer Verlag |
| record_format | marc |
| series | Stuttgarter Beiträge zur Produktionsforschung |
| series2 | Stuttgarter Beiträge zur Produktionsforschung |
| spelling | Garcia Lopez, Felipe Verfasser (DE-588)1203732783 aut Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications Felipe Garcia Lopez Stuttgart Fraunhofer Verlag [2019] xvii, 144 Seiten Illustrationen, Diagramme 21 cm txt rdacontent n rdamedia nc rdacarrier Stuttgarter Beiträge zur Produktionsforschung 93 Dissertation Universität Stuttgart 2019 Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Architektur Informatik (DE-588)4139374-0 gnd rswk-swf Mehrrobotersystem (DE-588)4734038-1 gnd rswk-swf Hindernis (DE-588)4368704-0 gnd rswk-swf Serviceroboter (DE-588)4396128-9 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf Cloud Computing (DE-588)7623494-0 gnd rswk-swf Fahrerloses Transportsystem (DE-588)4016284-9 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf Robotik Computer-Vernetzung und -Kommunikation Autonome Navigation Pfadplanung Multi-Roboter-Anwendungen Automatisierung Wissenschaftler Ingenieure Hersteller und Betreiber von Fahrerlosen Transportsystemen für Intralogistik-Anwendungen (DE-588)4113937-9 Hochschulschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Mehrrobotersystem (DE-588)4734038-1 s Fahrerloses Transportsystem (DE-588)4016284-9 s Navigation (DE-588)4041457-7 s Bahnplanung (DE-588)4267628-9 s Kollisionsschutz (DE-588)4199255-6 s Hindernis (DE-588)4368704-0 s Architektur Informatik (DE-588)4139374-0 s Cloud Computing (DE-588)7623494-0 s Serviceroboter (DE-588)4396128-9 s DE-604 Fraunhofer IPA, Stuttgart isb Fraunhofer IRB-Verlag (DE-588)4786605-6 pbl Erscheint auch als Online-Ausgabe Stuttgarter Beiträge zur Produktionsforschung 93 (DE-604)BV040914794 93 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=540594e25ae7485fa3112228839dc454&prov=M&dok_var=1&dok_ext=htm Inhaltstext B:DE-101 application/pdf https://d-nb.info/1203899068/04 Inhaltsverzeichnis DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033960726&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p dnb 20200610 DE-101 https://d-nb.info/provenance/plan#dnb 2\p dnb 20200610 DE-101 https://d-nb.info/provenance/plan#dnb 3\p dnb 20200610 DE-101 https://d-nb.info/provenance/plan#dnb |
| spellingShingle | Garcia Lopez, Felipe Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications Stuttgarter Beiträge zur Produktionsforschung Mobiler Roboter (DE-588)4191911-7 gnd Architektur Informatik (DE-588)4139374-0 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Hindernis (DE-588)4368704-0 gnd Serviceroboter (DE-588)4396128-9 gnd Bahnplanung (DE-588)4267628-9 gnd Kollisionsschutz (DE-588)4199255-6 gnd Cloud Computing (DE-588)7623494-0 gnd Fahrerloses Transportsystem (DE-588)4016284-9 gnd Navigation (DE-588)4041457-7 gnd |
| subject_GND | (DE-588)4191911-7 (DE-588)4139374-0 (DE-588)4734038-1 (DE-588)4368704-0 (DE-588)4396128-9 (DE-588)4267628-9 (DE-588)4199255-6 (DE-588)7623494-0 (DE-588)4016284-9 (DE-588)4041457-7 (DE-588)4113937-9 |
| title | Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications |
| title_auth | Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications |
| title_exact_search | Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications |
| title_exact_search_txtP | Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications |
| title_full | Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications Felipe Garcia Lopez |
| title_fullStr | Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications Felipe Garcia Lopez |
| title_full_unstemmed | Predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications Felipe Garcia Lopez |
| title_short | Predictive and cooperative online motion planning |
| title_sort | predictive and cooperative online motion planning a contribution to networked mobile robot navigation in industrial applications |
| title_sub | a contribution to networked mobile robot navigation in industrial applications |
| topic | Mobiler Roboter (DE-588)4191911-7 gnd Architektur Informatik (DE-588)4139374-0 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Hindernis (DE-588)4368704-0 gnd Serviceroboter (DE-588)4396128-9 gnd Bahnplanung (DE-588)4267628-9 gnd Kollisionsschutz (DE-588)4199255-6 gnd Cloud Computing (DE-588)7623494-0 gnd Fahrerloses Transportsystem (DE-588)4016284-9 gnd Navigation (DE-588)4041457-7 gnd |
| topic_facet | Mobiler Roboter Architektur Informatik Mehrrobotersystem Hindernis Serviceroboter Bahnplanung Kollisionsschutz Cloud Computing Fahrerloses Transportsystem Navigation Hochschulschrift |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=540594e25ae7485fa3112228839dc454&prov=M&dok_var=1&dok_ext=htm https://d-nb.info/1203899068/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=033960726&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV040914794 |
| work_keys_str_mv | AT garcialopezfelipe predictiveandcooperativeonlinemotionplanningacontributiontonetworkedmobilerobotnavigationinindustrialapplications AT fraunhoferipastuttgart predictiveandcooperativeonlinemotionplanningacontributiontonetworkedmobilerobotnavigationinindustrialapplications AT fraunhoferirbverlag predictiveandcooperativeonlinemotionplanningacontributiontonetworkedmobilerobotnavigationinindustrialapplications |