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Javier Antich Tobaruela's Projects

escape-gap-algorithm icon escape-gap-algorithm

This GitHub repository contains the C++ source code that implements a novel algorithm called Escape Gap (EG). This algorithm allows a robot both to safely navigate through narrow spaces and to escape from large obstacles, even when these obstacles have a shape that makes very difficult to find a way out. Moreover, all this is done in accordance with the spirit of the reactive/sense-act paradigm, which means that all decisions about the robot’s actions are merely made using local information of the environment.

task-allocation-strategy icon task-allocation-strategy

This GitHub repository contains the Python source code that implements a novel task-allocation strategy inspired by response-threshold methods which deals with tasks with time deadlines in such a way that each robot makes the decision about the best task to perform through an optimization problem, which is solved according to the celebrate technique to optimize in a fuzzy environment due to R.E. Bellman and L.A. Zadeh.

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