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Multi-Robot Motion Planning by Incremental Coordination

Mitul Saha, Pekka Isto
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
for solving multi-robot motion planning problems.  ...  Motivated by this study we devised a new multi-robot motion planning strategy in which we partially merge the two phases of the basic decoupled planning approach.  ...  The complexity of the centralized approach led to the emergence of the decoupled approach to multi-robot motion planning ( [8] , [9] ), where completeness is sacrificed in the favor of complexity.  ... 
doi:10.1109/iros.2006.282536 dblp:conf/iros/SahaI06 fatcat:vhb2ladpg5ebvaz6mt3hrrdfiy

Multi-Robot Collective Path Finding in Dynamic Environments [chapter]

Carlos Astengo-Noguez, Gildardo Sanchez-Ante, Jose Ramon, Ricardo Sisnett-Hernandez
2010 Mobile Robots Navigation  
In many practical problems the environments is more complex than in the basic motion planning problem.  ...  Then, a description of some methods for motion planning in single-robot environments is offered. The last part of the chapter is about methods for multi-robot motion planning.  ... 
doi:10.5772/8983 fatcat:6mv4rcbwarh3zkqeg4x5htyree

A Particle-Filter Approach for Active Perception in Networked Robot Systems [chapter]

João Messias, José J. Acevedo, Jesus Capitan, Luis Merino, Rodrigo Ventura, Pedro U. Lima
2015 Lecture Notes in Computer Science  
This method is based on a particle-filter modeling a probability distribution of the position of the child.  ...  This paper proposes a method for active perception with the goal of finding one target, e.g., a child wearing a RFID tag.  ...  To achieve this goal, the ACP problem is decoupled into a hierarchy of distinct subproblems ( Figure 1 ): an allocation problem to assign a room or non-overlapping area to each robot, and a motion planning  ... 
doi:10.1007/978-3-319-25554-5_45 fatcat:knnzyryihvgfjphygefipnreqm

A Survey and Analysis of Multi-Robot Coordination

Zhi Yan, Nicolas Jouandeau, Arab Ali Cherif
2013 International Journal of Advanced Robotic Systems  
Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination.  ...  A series of related problems have been reviewed, which include a communication mechanism, a planning strategy and a decision-making structure.  ...  A Comparison of Three Major Families of Multi-robot Motion Planning Approaches entire team is disabled.  ... 
doi:10.5772/57313 fatcat:lj4hv3wxqrdmfc4mzph76q76qq

Motion Planning for Multiple Robots

B. Aronov, M. de Berg, A. F. van der Stappen, P. Švestka, and J. Vleugels
1999 Discrete & Computational Geometry  
We study the motion-planning problem for pairs and triples of robots operating in a shared workspace containing n obstacles.  ...  We use this to obtain an O(n d ) time algorithm to solve the motion-planning problem for a pair of robots; this is one order of magnitude faster than what the standard method would give.  ...  Acknowledgments We would like to thank the following people for helping us in our struggles with (non-)contractible loops and other topological monsters: Saugata Basu, Sylvain Cappell, Jirka Matoušek,  ... 
doi:10.1007/pl00009476 fatcat:tvwf63dwu5amvolxnd3dh4xp6e

Motion planning for multiple robots

Boris Aronov, Mark de Berg, A. Frank van der Stappen, Petr Švestka, Jules Vleugels
1998 Proceedings of the fourteenth annual symposium on Computational geometry - SCG '98  
We use this to obtain an On d time algorithm to solve the motion-planning problem for a pair of robots; this is one order of magnitude faster than what the standard method would give.  ...  We study the motion-planning problem for pairs and triples of robots operating in a shared workspace containing n obstacles.  ...  We w ould like to thank the following people for helping us in our struggles with non-contractible loops and other topological monsters: Saugata Basu, Sylvain Cappell, Jirka Matou sek, Ricky Pollack, Alek  ... 
doi:10.1145/276884.276926 dblp:conf/compgeom/AronovBSSV98 fatcat:wbvko74x5zcb7hjmoskakpsc5i

Sampling-based Multi-robot Motion Planning
english

Zhi Yan, Nicolas Jouandeau, Arab Ali Chérif
2013 Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics  
This paper describes a sampling-based approach to multi-robot motion planning.  ...  The approach has been implemented and tested in simulation and the experimental results show a good system performance for multi-robot motion planning.  ...  Multi-robot motion planning is one of the most challenging tasks in multi-robot systems.  ... 
doi:10.5220/0004605005490554 dblp:conf/icinco/YanJC13 fatcat:fbfv2zueivbdtpta3vhbuq7u64

Average Case Constant Factor Time and Distance Optimal Multi-Robot Path Planning in Well-Connected Environments [article]

Jingjin Yu
2019 arXiv   pre-print
In this work, we develop a first low-polynomial running time algorithm, called SplitAngGroup (SaG), that solves the multi-robot path planning problem on grids and grid-like environments, and produces constant  ...  SaG attains its desirable properties through a careful combination of a novel divide-and-conquer technique, which we denote as global decoupling, and network flow based methods for routing the robots.  ...  Variations of the multi-robot path and motion planning problem have been actively studied for decades [6] - [25] .  ... 
arXiv:1706.07255v4 fatcat:a4mr65yhw5e5zi5ohcubfkezby

E^3MoP: Efficient Motion Planning Based on Heuristic-Guided Motion Primitives Pruning and Path Optimization With Sparse-Banded Structure [article]

Jian Wen, Xuebo Zhang, Haiming Gao, Jing Yuan, Yongchun Fang
2021 arXiv   pre-print
To solve the autonomous navigation problem in complex environments, an efficient motion planning approach is newly presented in this paper.  ...  Considering the challenges from large-scale, partially unknown complex environments, a three-layer motion planning framework is elaborately designed, including global path planning, local path optimization  ...  ACKNOWLEDGMENT The data for the Intel Research Lab is available from the Radish data set repository [49] . The authors gratefully thank Dirk Hähnel for providing this data set.  ... 
arXiv:2012.08892v3 fatcat:m2ny7rf4jrcelmfcrp2bqahgna

MULTI-AGENT ROBOT ARCHITECTURES: THE DECOMPOSITION ISSUE AND A CASE STUDY

ELPIDA S. TZAFESTAS, SPYROS N. RAPTIS, SPYROS G. TZAFESTAS
1998 International journal on artificial intelligence tools  
The paper specializes the discussion to a proposed neuro-fuzzy multi-agent architecture, which is then applied to design the local path planning system of an indoor mobile robot.  ...  This granularity decision is made on the basis of specific criteria of control localization, knowledge decoupling and interaction minimization so as to identify the decision points of the overall functionality  ...  Physical Decomposition One family of multi-agent robotic architectures assume a physical decomposition, i.e., one where each agent corresponds to a physical component of the robot: force sensors, sonars  ... 
doi:10.1142/s021821309800010x fatcat:kawf2ig4u5g3da6euf5nkf7utm

Decision Making as Optimization in Multi-robot Teams [chapter]

Lynne E. Parker
2012 Lecture Notes in Computer Science  
A key challenge in multi-robot teaming research is determining how to properly enable robots to make decisions on actions they should take to contribute to the overall system objective.  ...  In particular, we examine the common multi-robot capabilities of task allocation, path planning, formation generation, and target tracking/observation, showing how each can be represented as optimization  ...  Illustration of multi-robot path planning technique, which decouples path planning and velocity planning. Shown are the planned paths for three robots.  ... 
doi:10.1007/978-3-642-28073-3_4 fatcat:dbtvsalp45grjo2blje5zwafya

Combining Assembly Planning and Geometric Task Planning [chapter]

Raphaël Lallement, Juan Cortés, Mamoun Gharbi, Alexandre Boeuf, Rachid Alami, Carmelo J. Fernandez-Agüera, Iván Maza
2019 Springer Tracts in Advanced Robotics  
the robots and the complexity of the tasks and also to produce more robust plans even for strongly intricate problems.  ...  In particular, a joint solution for structure assembly planning, symbolic task planning and geometric planning is presented and analyzed in the construction of structures with a team of aerial robots equipped  ...  the robots and the complexity of the tasks.  ... 
doi:10.1007/978-3-030-12945-3_22 fatcat:5xeekncvyffw3gwu24dnzxq4la

Cloud-Based Multi-Robot Path Planning in Complex and Crowded Environment Using Fuzzy Logic and Online Learning

Novak Zagradjanin, Aleksandar Rodic, Dragan Pamucar, Bojan Pavkovic
2021 Information Technology and Control  
This paper considers an autonomous cloud-based multi-robot system designed to execute highly repetitive tasksin a dynamic environment such as a modern megastore.  ...  The results indicate the possibility ofapplying a similar concept in different real-world robotics applications, in order to reduce the total paths length,as well as to minimize the risk in path planning  ...  Acknowledgement The authors of this paper would like to express their gratitude to the Ministry of Education, Science and Technological Development of Republic of Serbia, for their support of Contract  ... 
doi:10.5755/j01.itc.50.2.28234 fatcat:k5ds6a4firh6xag55jh5edqxga

Randomized multi-modal motion planning for a humanoid robot manipulation task

Kris Hauser, Victor Ng-Thow-Hing
2010 The international journal of robotics research  
In this paper we address multi-modal motion planning in the common setting where state is high-dimensional, and there are a continuous infinity of modes.  ...  A major theoretical result is that Random-MMP is formally reliable and scalable, and its running time depends on certain properties of the multi-modal structure of the problem that are not explicitly dependent  ...  Introduction A wide variety of challenging problems in robotics involve the motion of certain type of multi-modal hybrid system in which the continuous motion switches between discrete modes, and each  ... 
doi:10.1177/0278364910386985 fatcat:jbvc24biuzb7vnkgmeo7mq3qu4

With Whom to Communicate: Learning Efficient Communication for Multi-Robot Collision Avoidance

Alvaro Serra-Gomez, Bruno Brito, Hai Zhu, Jen Jen Chung, Javier Alonso-Mora
2020 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts  ...  However, the risk of collision between a pair of robots fluctuates through their motion and communication is not always needed.  ...  Additionally, we decouple the problem of communication and motion planning, allowing the combination of our method with existing and well-tested solutions for motion planning in collision avoidance tasks  ... 
doi:10.1109/iros45743.2020.9341762 fatcat:7pucysmzifcbthg6bx5xly6x2a
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