Dynamic Mission Planning for Multiple Mobile Robots

Barry Brummit and Anthony (Tony) Stentz
Proceedings of the IEEE International Conference on Robotics and Automation, April, 1996.


Download
  • Adobe portable document format (pdf) (36KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Planning for multiple mobile robots in dynamic environments involves determining the optimal path each robot should follow to accomplish the goals of the mission, given the current knowledge available about the world. As knowledge increases or improves, the planning system should dynamically reassign robots to goals in order to continually minimize the time to complete the mission. In this paper, an example problem in this domain is explored and performance results of such a dynamic planning system are presented. The system was able to dynamically optimize the motion of 3 robots toward 6 goals in real time, improving the average overall mission performance compared to a static planner by 25%. A preliminary design for a practical solution to a wider class of problems is also discussed.

Notes

Text Reference
Barry Brummit and Anthony (Tony) Stentz, "Dynamic Mission Planning for Multiple Mobile Robots," Proceedings of the IEEE International Conference on Robotics and Automation, April, 1996.

BibTeX Reference
@inproceedings{Brummit_1996_1210,
   author = "Barry Brummit and Anthony (Tony) Stentz",
   title = "Dynamic Mission Planning for Multiple Mobile Robots",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   month = "April",
   year = "1996",
}