Improved Discrete RRT for Coordinated Multi-robot Planning

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00322709" target="_blank" >RIV/68407700:21230/18:00322709 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/18:00322709
Result on the web
<a href="http://www.scitepress.org/PublicationsDetail.aspx?ID=ppwUqsGaX18=&t=1" target="_blank" >http://www.scitepress.org/PublicationsDetail.aspx?ID=ppwUqsGaX18=&t=1</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5220/0006865901710179" target="_blank" >10.5220/0006865901710179</a>

Result language
angličtina
Original language name
Improved Discrete RRT for Coordinated Multi-robot Planning
Original language description
This paper addresses the problem of coordination of a fleet of mobile robots – the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during last decades, but a minority of them is practically applicable, i.e. fast, producing near-optimal solutions, and complete. We propose a novel probabilistic approach based on the Rapidly Exploring Random Tree algorithm (RRT) by significantly improving its multi-robot variant for discrete environments. The presented experimental results show that the proposed approach is fast enough to solve problems with tens of robots in seconds. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in (ter Mors et al., 2010), it solves problems where ter Mors’s algorithm fails.
Czech name
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Czech description
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Project
<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</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
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - (Volume 2)
ISBN
978-989-758-321-6
ISSN
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e-ISSN
—
Number of pages
9
Pages from-to
171-179
Publisher name
SciTePress
Place of publication
Madeira
Event location
Porto
Event date
Jul 29, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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