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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

—

Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems (MESAS 2017)

ISBN

978-3-319-76071-1

ISSN

0302-9743

e-ISSN

1611-3349

Počet stran výsledku

13

Strana od-do

59-71

Název nakladatele

Springer International Publishing AG

Místo vydání

Cham

Místo konání akce

Řím

Datum konání akce

24. 10. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000444831600004