Combining multi-robot motion planning and goal allocation using roadmaps

João Salvado, Masoumeh Mansouri, Federico Pecora

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This paper addresses the problem of automating fleets of robots with non-holonomic dynamics. Previously studied methods either specialize in facets of this problem, that is, one or a combination of multi-robot goal allocation, motion planning, and coordination, and typically acrifice optimality and completeness for scalability. We propose an approach that constructs an abstract multi-robot roadmap in a reduced configuration space, where we account for environment connectivity and interference cost between robots occupying the same polygons. Querying the road-map results in a robot-goal assignment and abstract multi-robot trajectory. This is then exploited to de-compose the original problem into smaller problems, each of which is solved with a multi-robot motion planner that accounts for kinodynamic constraints. We validate the approach experimentally to demonstrate the advantage of considering task assignment and motion planning holistically, and explore some methods for balancing solution quality and computational efficiency.
Original languageEnglish
Title of host publication2021 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages10016-10022
Number of pages7
ISBN (Electronic)9781728190778
ISBN (Print)9781728190778, 9781728190785 (PoD)
DOIs
Publication statusPublished - 18 Oct 2021
Event2021 IEEE International Conference on Robotics and Automation (ICRA) - International Convention and Exhibition Center, Xi’an , China
Duration: 30 May 20215 Jun 2021

Publication series

NameIEEE International Conference on Robotics and Automation
PublisherIEEE
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

Conference2021 IEEE International Conference on Robotics and Automation (ICRA)
Abbreviated titleICRA 2021
Country/TerritoryChina
CityXi’an
Period30/05/215/06/21

Keywords

  • Shape
  • Robot kinematics
  • Search methods
  • Scalability
  • Dynamics
  • Interference
  • Planning

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