Improved Discrete RRT for Coordinated Multi-robot Planning

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/18:00322709

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Improved Discrete RRT for Coordinated Multi-robot Planning

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Improved Discrete RRT for Coordinated Multi-robot Planning

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - (Volume 2)

ISBN

978-989-758-321-6

ISSN

—

e-ISSN

—

Počet stran výsledku

9

Strana od-do

171-179

Název nakladatele

SciTePress

Místo vydání

Madeira

Místo konání akce

Porto

Datum konání akce

29. 7. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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