M. Bennewitz, and W. Burgard
Finding Solvable Priority Schemes
for Decoupled Path Planning Techniques for Teams of Mobile Robots
Proc. of the International Symposium on Intelligent
Robotic Systems (SIRS)
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 exist. 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 can successfully solve many more coordination problems
than previous decoupled and prioritized techniques.
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Bibtex
@InProceedings{Benn01Find,
author = {Bennewitz, M. and Burgard, W.},
title = {Finding Solvable Priority
Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots},
booktitle = SIRS,
year = 2001,
note = {To appear}
}