Path Planning for a Formation of Mobile Robots with Split and Merge

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F18%3A00321697" target="_blank" >RIV/68407700:21730/18:00321697 - isvavai.cz</a>

Result on the web

<a href="https://link.springer.com/chapter/10.1007/978-3-319-76072-8_4" target="_blank" >https://link.springer.com/chapter/10.1007/978-3-319-76072-8_4</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-319-76072-8_4" target="_blank" >10.1007/978-3-319-76072-8_4</a>

Result language

angličtina

Original language name

Path Planning for a Formation of Mobile Robots with Split and Merge

Original language description

A novel multi-robot path planning approach is presented in this paper. Based on the standard Dijkstra, the algorithm looks for the optimal paths for a formation of robots, taking into account the possibility of split and merge. The algorithm explores a graph representation of the environment, computing for each node the cost of moving a number of robots and their corresponding paths. In every node where the formation can split, all the new possible formation subdivisions are taken into account accordingly to their individual costs. In the same way, in every node where the formation can merge, the algorithm verifies whether the combination is possible and, if possible, computes the new cost. In order to manage split and merge situations, a set of constrains is applied. The proposed algorithm is thus deterministic, complete and finds an optimal solution from a source node to all other nodes in the graph. The presented solution is general enough to be incorporated into high-level tasks as well as it can benefit from state-of-the-art formation motion planning approaches, which can be used for evaluation of edges of an input graph. The presented experimental results demonstrate ability of the method to find the optimal solution for a formation of robots in environments with various complexity.

Czech name

—

Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

Continuities

R - Projekt Ramcoveho programu EK

Publication year

2018

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Modelling and Simulation for Autonomous Systems (MESAS 2017)

ISBN

978-3-319-76071-1

ISSN

0302-9743

e-ISSN

1611-3349

Number of pages

13

Pages from-to

59-71

Publisher name

Springer International Publishing AG

Place of publication

Cham

Event location

Řím

Event date

Oct 24, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000444831600004