Prioritized motion planning for multiple robots

In this paper we address the problem of motion planning for multiple robots. We introduce a prioritized method, based on a powerful method for motion planning in dynamic environments, recently developed by the authors. Our approach is generically applicable: there is no limitation on the number of d...

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Bibliographic Details
Published in2005 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 430 - 435
Main Authors van den Berg, J.P., Overmars, M.H.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Drones
Motion planning
multiple robots
Orbital robotics
prioritized
Robot kinematics
Robot motion
Trajectory
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Summary:In this paper we address the problem of motion planning for multiple robots. We introduce a prioritized method, based on a powerful method for motion planning in dynamic environments, recently developed by the authors. Our approach is generically applicable: there is no limitation on the number of degrees of freedom of each of the robots, and robots of various types - for instance free-flying robots and articulated robots - can be used simultaneously. Results show that high-quality paths can be produced in less than a second of computation time, even in confined environments involving many robots. We examine three issues in particular in this paper: the assignment of priorities to the robots, the performance of prioritized planning versus coordinated planning, and the influence of the extent by which the robot motions are constrained on the performance of the method. Results are reported in terms of both running time and the quality of the paths produced.
ISBN:0780389123
9780780389120
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2005.1545306