/Constraint Manifold Subsearch for multirobot path planning with cooperative tasks

Constraint Manifold Subsearch for multirobot path planning with cooperative tasks

Glenn Wagner, Jae Il Kim, Konrad Urban and Howie Choset
Conference Paper, IEEE International Conference on Robotics and Automation (ICRA), May, 2015

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Abstract

The cooperative path planning problem seeks to determine a path for a group of robots which form temporary teams to perform tasks that require multiple robots. The multi-scale effects of simultaneously coordinating many robots distributed across the workspace while also tightly coordinating robots in cooperative teams increases the difficulty of planning. This paper describes a new approach to cooperative path planning called Constraint Manifold Subsearch (CMS). CMS builds upon M*, a high performance multirobot path planning algorithm, by modifying the search space to restrict teams of robots performing a task to the constraint manifold of the task. CMS can find optimal solutions to the cooperative path planning problem, or near optimal solutions to problems involving large numbers of robots.

Notes
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7140054

BibTeX Reference
@conference{Wagner-2015-5965,
author = {Glenn Wagner and Jae Il Kim and Konrad Urban and Howie Choset},
title = {Constraint Manifold Subsearch for multirobot path planning with cooperative tasks},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2015},
month = {May},
publisher = {IEEE},
}
2017-09-13T10:38:41+00:00