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Integer-Programming-Based Narrow-Passage Multi-Robot Path Planning with Effective Heuristics [article]

Jiaxi Huo, Ronghao Zheng, Meiqin Liu, Senlin Zhang
2021 arXiv   pre-print
We propose a novel algorithm, OMRPP (One-way Multi-robot Path Planning) based on Integer programming (IP) method.  ...  We study optimal Multi-robot Path Planning (MPP) on graphs, in order to improve the efficiency of multi-robot system (MRS) in the warehouse-like environment.  ...  This study brings two main contributions: 1) Based on narrow-passage warehouse-like environment, we propose an IP-based multi-robot path planning framework.  ... 
arXiv:2107.12219v1 fatcat:aqejvm5hcjf4lkm4cuchqozaam

DDM: Fast Near-Optimal Multi-Robot Path Planning using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics [article]

Shuai D. Han, Jingjin Yu
2019 arXiv   pre-print
The two heuristics attack two distinct phases of a decoupling-based planner: while path diversification allows the more effective use of the entire workspace for robot travel, optimal sub-problem solution  ...  We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings.  ...  As such, DDM is not suitable for MPPs with narrow passages, which remains challenging to be effectively solved.  ... 
arXiv:1904.02598v2 fatcat:m3a5iv5eqjgbfi7y5tgkhsa3ea

Triple RRTs: An Effective Method for Path Planning in Narrow Passages

Wei Wang, Xin Xu, Yan Li, Jinze Song, Hangen He
2010 Advanced Robotics  
This paper presents a novel two-stage approach to address the problem of multi-d.o.f. robot path planning in high-dimensional configuration space with narrow corridors.  ...  and passing through narrow passages in a robot's configuration space remains a challenge for RRTs-based planners.  ...  LaValle for providing the source code of the Motion Planning Library.  ... 
doi:10.1163/016918610x496928 fatcat:yk3w6x6ubzd6jd7zkmctjyuivu

An Effective Algorithmic Framework for Near Optimal Multi-Robot Path Planning [article]

Jingjin Yu, Daniela Rus
2015 arXiv   pre-print
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time.  ...  planning problem.  ...  If the robot does not find the narrow passage on the left, it then needs to travel through a winding path on the right.  ... 
arXiv:1505.00200v2 fatcat:3dmuvwjepjetzjqzxxvqoig2by

Identification of probabilistic approaches and map-based navigation in motion planning for mobile robots

B Madhevan, M Sreekumar
2018 Sadhana (Bangalore)  
Future research prospects in multi-robot path planning based on probabilistic approaches are also discussed.  ...  The planned path might change depending upon the number of robots and the decision made.  ...  Various problems arise with planning algorithms such as uncertainty local model (ULM) and sampling-based planning algorithms, where obstacles create narrow passages for the robots to achieve a collisionfree  ... 
doi:10.1007/s12046-017-0776-8 fatcat:hnek2eu7w5gv7ky3sr3uz5glrm

Planning for multi-agent teams with leader switching

Siddharth Swaminathan, Mike Phillips, Maxim Likhachev
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Follow-the-leader based approaches have been popular for the control of multi-robot teams for their ability to drive many with few.  ...  To deal with the increased dimensionality of the problem we show how a recently developed algorithm, MHA* (multi-heuristic A*) can be extended to support planning for a team of robots.  ...  Smooth paths are generated by using mixed-integer linear programming to avoid obstacles, but the method assumes that the high-level waypoints of a plan are provided.  ... 
doi:10.1109/icra.2015.7139954 dblp:conf/icra/SwaminathanPL15 fatcat:jdtobfzvuja4pjlnatpz2uhspq

A Comprehensive Review of Coverage Path Planning in Robotics Using Classical and Heuristic Algorithms

Chee Sheng Tan, Rosmiwati Mohd-Mokhtar, Mohd Rizal Arshad
2021 IEEE Access  
INDEX TERMS Coverage path planning, exploration, heuristic algorithm, deep reinforcement learning. This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.  ...  The small battery capacities of the mobile robot and the un-optimized planning efficiency of the industrial robot bottlenecked the time efficiency and productivity rate of coverage tasks in terms of speed  ...  However, fewer related studies tackle the narrow passage problem when the robot is performing the coverage task.  ... 
doi:10.1109/access.2021.3108177 fatcat:ddkiiuc2znfwhc6z3xqbk5oo7y

Sub-1.5 Time-Optimal Multi-Robot Path Planning on Grids in Polynomial Time [article]

Teng Guo, Jingjin Yu
2022 arXiv   pre-print
Graph-based multi-robot path planning (MRPP) is NP-hard to optimally solve.  ...  Building on the baseline methods with provable guarantees, we have developed effective, principled heuristics that further improve the computed optimality of the RTH algorithms.  ...  Multi-Robot Path Planning on Graphs Graph-based multi-robot path planning (MRPP) seeks collision-free paths that efficiently route robots.  ... 
arXiv:2201.08976v2 fatcat:2v7czpbc5jadhaur7ba74outbq

On Delaying Collision Checking in PRM Planning: Application to Multi-Robot Coordination

Gildardo Sánchez, Jean-Claude Latombe
2002 The international journal of robotics research  
On a simulated six-robot welding station combining 36 degrees of freedom, centralized planning has proven to be a much more effective approach than decoupled planning.  ...  This paper specifically describes the application of the planner to multi-robot planning and compares results obtained when the planner uses a centralized planning approach (PRM planning is then performed  ...  Wampler from General Motors for introducing the multi-robot welding problem to them and discussing several aspects of this research. PQP was made available by S. Gottschalk, M. Lin, and D.  ... 
doi:10.1177/027836402320556458 fatcat:nnvm4gd7afcqrjvek365ku7dru

Coordinating heterogeneous teams of robots using temporal symbolic planning

Kai M. Wurm, Christian Dornhege, Bernhard Nebel, Wolfram Burgard, Cyrill Stachniss
2013 Autonomous Robots  
Such actions include the deployment and retrieval of other robots or manipulation tasks. Our method integrates a temporal planning approach with a traditional cost-based planner.  ...  The results show that our approach outperforms ad-hoc extensions of state-of-the-art cost-based coordination methods and that the approach is able to efficiently coordinate teams of heterogeneous robots  ...  In this approach, if a robot is too big to pass through a narrow passage, other robots are informed about this task.  ... 
doi:10.1007/s10514-012-9320-1 fatcat:6m6pdmvedva7vd4dawpplqh74i

Space-Time Group Motion Planning [chapter]

Ioannis Karamouzas, Roland Geraerts, A. Frank van der Stappen
2013 Springer Tracts in Advanced Robotics  
We present a novel approach for planning and directing heterogeneous groups of virtual agents based on techniques from linear programming.  ...  The computed space-time plan is combined with an agent-based steering method to handle collisions and generate the final motions of the agents.  ...  Multi-agent path planning has also been extensively studied in robotics.  ... 
doi:10.1007/978-3-642-36279-8_14 fatcat:tarh3cjll5es3iztocamkub7o4

Multi-Robot Coordination Analysis, Taxonomy, Challenges and Future Scope

Janardan Kumar Verma, Virender Ranga
2021 Journal of Intelligent and Robotic Systems  
., multi-robot motion planning, and task planning, and in various application domains of MRS such as exploration, object transport, target tracking, etc.  ...  Recently, Multi-Robot Systems (MRS) have attained considerable recognition because of their efficiency and applicability in different types of real-life applications.  ...  The algorithm is framed as an "integer programming problem".  ... 
doi:10.1007/s10846-021-01378-2 pmid:33879973 pmcid:PMC8051283 fatcat:pzwd7tx47zd6jazdk753ucmsbi

Behaviour Based Mobile Robot Navigation with Dynamic Weighted Voting Technique [chapter]

Shamsudin H.M., Rosbi Mamat, Tan Chee
2005 Cutting Edge Robotics  
The robot only needs to escape when it goes in to a space with a lot of obstacles, where the passage is too narrow and it is not allowed to move forward or turn in circular path.  ...  For the test of narrow passage, as in field 8 to field 11, the mobile robot showed higher reliability relative to experiment 1. The mobile robot was more reliable in finding the narrow passage.  ...  The chapter V speaks about different application areas of multi-robot systems. Other emerging field is discussed in chapter VI -the human-robot interaction.  ... 
doi:10.5772/4650 fatcat:2hfell6shzfhpmuit7ebgonk6a

Heuristic Approach for Real-time Multi-agent Trajectory Planning Under Uncertainty

Haseeb Tahir, Mujahid. N. Syed, Uthman Baroudi
2019 IEEE Access  
INDEX TERMS Trajectory planning, multi-agent, path planning, robotic networks, collision avoidance. 3812 This work is licensed under a Creative Commons Attribution 4.0 License.  ...  In this paper, a novel heuristic approach for motion planning in multi-agent dynamic environment is proposed.  ...  Mixed Integer Non Linear Programming (MINLP) formulations are also used in path planning, [17] .  ... 
doi:10.1109/access.2019.2962785 fatcat:gxynbvt5bbaqxmucx4humk76le

Rapid Randomized Restarts for Multi-Agent Path Finding Solvers [article]

Liron Cohen, Glenn Wagner, T.K. Satish Kumar, Howie Choset, Sven Koenig
2017 arXiv   pre-print
Multi-Agent Path Finding (MAPF) is an NP-hard problem well studied in artificial intelligence and robotics. It has many real-world applications for which existing MAPF solvers use various heuristics.  ...  In this paper, we enhance MAPF solvers with randomization and observe that they exhibit heavy-tailed distributions of runtimes on hard instances.  ...  These include reductions to problems from satisfiability (SAT), integer linear programming and answer set programming. 2 However, current state-of-the-art MAPF solvers are based on graph search.  ... 
arXiv:1706.02794v1 fatcat:naqlibu4gbfdzfsfxerb2s5qd4
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