Complete Decentralized Method for On-Line Multi-Robot Trajectory Planning in Valid Infrastructures

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00225909" target="_blank" >RIV/68407700:21230/15:00225909 - isvavai.cz</a>
Result on the web
<a href="http://www.aaai.org/ocs/index.php/ICAPS/ICAPS15/paper/view/10504" target="_blank" >http://www.aaai.org/ocs/index.php/ICAPS/ICAPS15/paper/view/10504</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Complete Decentralized Method for On-Line Multi-Robot Trajectory Planning in Valid Infrastructures
Original language description
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the problem of finding a trajectory for each such relocation task that avoids collisions with other robots. The chosen robot plans its trajectory so as to avoid collision with other robots executing tasks that were issued earlier. We prove that if all possible destinations of the relocation tasks satisfy so-called valid infrastructure property, then this mechanism is guaranteed to always succeed and provide a trajectory for the robot that reaches the destination without colliding with any other robot. The time-complexity of the approach on a fixed space-time discretization is only quadratic in the number of robots. We demonstrate the applicability of the presented method on several real-world maps and compare its performance against a popular reactive a
Czech name
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Czech description
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Project
<a href="/en/project/LD12044" target="_blank" >LD12044: Agent-based Computing for Autonomic Road Transport Support Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of 25th International Conference on Automated Planning and Scheduling 2015
ISBN
978-1-57735-731-5
ISSN
2334-0835
e-ISSN
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Number of pages
9
Pages from-to
324-332
Publisher name
AAAI Press
Place of publication
Menlo Park, California
Event location
Jerusalem
Event date
Jun 7, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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