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k-color multi-robot motion planning

Kiril Solovey, Dan Halperin
2013 The international journal of robotics research  
We call this problem k-color multi-robot motion planning and provide a sampling-based algorithm specifically designed for solving it.  ...  At the heart of the algorithm is a novel technique where the k-color problem is reduced to several discrete multi-robot motion planning problems.  ...  We consider the problem of k-color multi-robot motion planning: a simple and natural extension of the multi-robot problem where the robots are partitioned into k groups (colors) such that within each group  ... 
doi:10.1177/0278364913506268 fatcat:4egjpaklqjgndi4kwwxjdlmabi

k-Color Multi-Robot Motion Planning [article]

Kiril Solovey, Dan Halperin
2013 arXiv   pre-print
We call this problem k-color multi-robot motion planning and provide a sampling-based algorithm specifically designed for solving it.  ...  At the heart of the algorithm is a novel technique where the k-color problem is reduced to several discrete multi-robot motion planning problems.  ...  We consider the problem of k-color multirobot motion planning-a simple and natural extension of the multi-robot problem where the robots are partitioned into k groups (colors) such that within each group  ... 
arXiv:1202.6174v3 fatcat:4eg33js7obdm7n4qfarlpsjroe

k-Color Multi-robot Motion Planning [chapter]

Kiril Solovey, Dan Halperin
2013 Springer Tracts in Advanced Robotics  
At the heart of the algorithm is a novel technique where the k-color problem is reduced to several discrete multi-robot motion planning problems.  ...  We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable.  ...  Note that two robots from R collide, when placed in c, c ∈ F, if r(c) ∩ r(c ) = ∅. k-Color Multi-Robot Motion Planning.  ... 
doi:10.1007/978-3-642-36279-8_12 fatcat:uwyqu2sgbnfe3hzb6y35rdddfy

Multi-robot motion planning of k-colored discs is PSPACE-hard [article]

Thomas Brocken, G. Wessel van der Heijden, Irina Kostitsyna, Lloyd E. Lo-Wong, Remco J. A. Surtel
2020 arXiv   pre-print
In the problem of multi-robot motion planning, a group of robots, placed in a polygonal domain with obstacles, must be moved from their starting positions to a set of target positions.  ...  That is, within one class of robots, where a class is given by the robots' size, any robot can be moved to any of the corresponding target positions.  ...  Generalizing the notions of labeled and unlabeled motion planning, Solovey and Halperin [6] introduce the k-color robot motion planning problem, where given are k classes of robots and k sets of target  ... 
arXiv:2004.12144v1 fatcat:ym6ok6dnwvahlebkriizpi2kxi

Multi-Robot Motion Planning of k-Colored Discs Is PSPACE-Hard

Thomas Brocken, G. Wessel van der Heijden, Irina Kostitsyna, Lloyd E. Lo-Wong, Remco J. A. Surtel, Ryuhei Uehara, Martin Farach-Colton, Giuseppe Prencipe
2020 Fun with Algorithms  
In the problem of multi-robot motion planning, a group of robots, placed in a polygonal domain with obstacles, must be moved from their starting positions to a set of target positions.  ...  That is, within one class of robots, where a class is given by the robots' size, any robot can be moved to any of the corresponding target positions.  ...  Generalizing the notions of labeled and unlabeled motion planning, Solovey and Halperin [6] introduce the k-color robot motion planning problem, where given are k classes of robots and k sets of target  ... 
doi:10.4230/lipics.fun.2021.15 dblp:conf/fun/BrockenHKLS21 fatcat:3tk2x46donc47iq7shpobpf3u4

Safe and complete trajectory generation for robot teams with higher-order dynamics

Sarah Tang, Vijay Kumar
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this work, we consider the labeled multi-robot planning problem. In this paradigm, a team of robots at fixed start positions must navigate to pre-specified and noninterchangable goal positions.  ...  We present simulation results for teams of up to 20 robots.  ...  Fig. 2 : 2 Example motion plan and trajectory solutions for the labeled multi-robot trajectory generation problem.  ... 
doi:10.1109/iros.2016.7759300 dblp:conf/iros/Tang016 fatcat:pj4ax5gervatzetr3xtvtwbrny

Augmenting Control Policies with Motion Planning for Robust and Safe Multi-robot Navigation

Tianyang Pan, Christos K. Verginis, Andrew M. Wells, Lydia E. Kavraki, Dimos V. Dimarogonas
2020 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This work proposes a novel method of incorporating calls to a motion planner inside a potential field control policy for safe multi-robot navigation with uncertain dynamics.  ...  We demonstrate the utility of our approach with experiments based on floor plans gathered from real buildings.  ...  In [15] , the authors employ previous results in discrete leads for the multi-robot motion planning problem.  ... 
doi:10.1109/iros45743.2020.9341153 fatcat:q6ly7kbronehdfb4gwv3xnwaxy

Multi-cue 3D object recognition in knowledge-based vision-guided humanoid robot system

Kei Okada, Mitsuharu Kojima, Satoru Tokutsu, Toshiaki Maki, Yuto Mori, Masayuki Inaba
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Humanoid robot system for real world service application must integrate an object recognition subsystem and a motion planning subsystem in both mobility and manipulation tasks.  ...  These requirements involve the vision system capable of self-localization for navigation tasks and object recognition for manipulation tasks, while communicating with the motion planning subsystem.  ...  While motion planning systems [4] - [6] only output a joint angle or joint torque sequences of a robot.  ... 
doi:10.1109/iros.2007.4399245 dblp:conf/iros/OkadaKTMMI07 fatcat:baajkbh6urcgzan5hcgjecu7mq

A Lexicographic Search Method for Multi-Objective Motion Planning [article]

Tixiao Shan, Brendan Englot
2020 arXiv   pre-print
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps  ...  We compare our method with two other multi-objective approaches, a naive weighted sum method and an expanded graph search method, demonstrating that a lexicographic search can solve such planning problems  ...  INTRODUCTION Multi-objective motion planning has been an area of interest in robotics for many years.  ... 
arXiv:1909.02184v2 fatcat:ry44ljkmc5g57dicp67yfstdke

Hybrid Multi-camera Visual Servoing to Moving Target [article]

Hanz Cuevas-Velasquez, Nanbo Li, Radim Tylecek, Marcelo Saval-Calvo, Robert B. Fisher
2018 arXiv   pre-print
In this paper we present a novel visual servoing approach using hybrid multi-camera input data to lead a robot arm accurately to dynamically moving target points in the presence of partial occlusions.  ...  Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear.  ...  Position Based Motion Control Visual servoing to moving targets requires fast movement control of the robot arm and real-time motion planning.  ... 
arXiv:1803.02285v2 fatcat:da3inlzinje7tejk4e3baisemu

Hybrid Multi-camera Visual Servoing to Moving Target

Hanz Cuevas-Velasquez, Nanbo Li, Radim Tylecek, Marcelo Saval-Calvo, Robert B. Fisher
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper we present a novel visual servoing approach using hybrid multi-camera input data to lead a robot arm accurately to dynamically moving target points in the presence of partial occlusions.  ...  Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear.  ...  Position Based Motion Control Visual servoing to moving targets requires fast movement control of the robot arm and real-time motion planning.  ... 
doi:10.1109/iros.2018.8593652 dblp:conf/iros/Cuevas-Velasquez18 fatcat:zis7h64jo5bwdhrujquigx4dum

A MULTI-CAMERA VIEW DIRECTION PLANNING STRATEGY FOR MOBILE ROBOTS

TINGTING XU, KOLJA KÜHNLENZ, MARTIN BUSS
2008 International Journal of Information Acquisition  
A multi-camera view direction planning strategy for mobile robots is discussed.  ...  The performance of the proposed strategy is evaluated in simulations considering a humanoid robot navigation scenario and compared with two conventional multi-camera view direction planning strategies.  ...  color images.  ... 
doi:10.1142/s0219878908001703 fatcat:wfht2cicxrdypac7t7krprg5ve

A view direction planning strategy for a multi-camera vision system

Tingting Xu, Kolja Kuhnlenz, Martin Buss
2008 2008 International Conference on Information and Automation  
A multi-camera view direction planning strategy for mobile robots is discussed. Two concurrent tasks are considered: self-localization and object tracking.  ...  The performance of the proposed strategy is evaluated in simulations, considering a humanoid robot navigation scenario, and compared with another two coupled or partly coupled gaze control strategies.  ...  The start point of We compare three multi-camera planning strategies evaluating the absolute position estimation errors and the estimation covariance of the robot ego-motion as well as the object motion  ... 
doi:10.1109/icinfa.2008.4608018 fatcat:fbzugeysnfgnjcohgcqcnfdefm

Scalable Decentralized Multi-Robot Trajectory Optimization in Continuous-Time

Sivanathan Kandhasamy, Vinayagam Babu Kuppusamy, Shravan Krishnan
2020 IEEE Access  
The simulated results suggest that the proposed algorithm is computationally efficient and can be used for online planning in moderate sized multi-robot systems.  ...  INDEX TERMS Multi-Robot System, Trajectory Optimization, Obstacle Avoidance, Model Predictive Control VOLUME 8, 2020 2  ...  The rest of the paper is organised as: Section II elaborates on works in multi-robot motion planning related to the present work. Section III introduces the multi-robot motion planning problem.  ... 
doi:10.1109/access.2020.3024685 fatcat:hycc632wancotj47livuzayjei

Safe Navigation of Quadrotor Teams to Labeled Goals in Limited Workspaces [chapter]

Sarah Tang, Justin Thomas, Vijay Kumar
2017 Springer Proceedings in Advanced Robotics  
In this work, we solve the labeled multi-robot planning problem.  ...  Here, we present experiments to validate a centralized multi-robot planning and trajectory generation method that explicitly accounts for robots with higher-order dynamics.  ...  Fig. 1 : 1 A multi-robot team of five quadrotors. Fig. 2 : 2 Illustration of motion planning algorithm.  ... 
doi:10.1007/978-3-319-50115-4_51 dblp:conf/iser/TangT016 fatcat:vd3u2zmkevg2teflxsvgnacwqq
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