M. Bennewitz, and W. Burgard
Coordinating the Motions of Multiple
Mobile Robots using a Probabilistic Model
Proc. of the International Symposium on Intelligent
Robotic Systems (SIRS)
Abstract
This paper considers the problem of path planning for teams of mobile robots.
It presents a decoupled and prioritized approach to coordinate the movements
of the mobile robots in their environment. Our algorithm computes the paths
for the individual robots in the configuration time-space. Thereby
it trades off the distance to both to static objects as well as to other
robots and the length of the path to be traveled. To estimate the
risk of colliding with other robots it uses a probabilistic model of the
robots motions. The approach has been implemented and tested on real robots
as well as in extensive simulation runs. In different experiments
we demonstrate that our approach is well suited to control the motions
of a team of robots in various environments and illustrate its advantages
over other techniques developed so far.
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Bibtex
@InProceedings{Benn00Coo,
author = {Bennewitz, M. and Burgard, W.},
title = {Coordinating the Motions
of Multiple Mobile Robots Using a Probabilistic Model},
booktitle = SIRS,
year = 2000,
}