M. Bennewitz, W. Burgard, S. Thrun
Exploiting Constraints During Prioritized Path Planning for Teams of Mobile Robots
In Proc. of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS), 2001.
Abstract
Coordinating the motion of multiple mobile robots is one of the
fundamental problems in robotics. The predominant algorithms for
coordinating teams of robots are decoupled and prioritized, thereby
avoiding combinatorially hard planning problems typically faced by
centralized approaches. In this paper we present a method for finding
solvable priority schemes for such prioritized and decoupled planning
techniques. Existing approaches apply a single priority scheme which
makes them overly prone to failure in cases where valid solutions
exists. By searching in the space of priorization schemes, our
approach overcomes this limitation. To focus the search, our
algorithm is guided by constraints generated from the task
specification. To illustrate the appropriateness of this approach,
this paper discusses experimental results obtained with real robots
and through systematic robot simulation. The experimental results
demonstrate that our approach successfully solves many more
coordination problems than previous decoupled and prioritized
techniques.
Download
Full paper [.ps.gz]
(192,248 bytes)
Bibtex
@InProceedings{Bennewitz01Exploiting,
author = {Bennewitz, M. and Burgard, W.
and Thrun, S.},
title = {Exploiting Constraints During Prioritized Path Planning for Teams of Mobile Robots},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2001}
}