Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Entire DC Network
Complete And Scalable Multi-Robot Planning In Tunnel Environments, Mike Peasgood, John Mcphee, Christopher M. Clark
Complete And Scalable Multi-Robot Planning In Tunnel Environments, Mike Peasgood, John Mcphee, Christopher M. Clark
Computer Science and Software Engineering
This paper addresses the challenging problem of finding collision-free trajectories for many robots moving to individual goals within a common environment. Most popular algorithms for multi-robot planning manage the complexity of the problem by planning trajectories for robots sequentially; such decoupled methods may fail to find a solution even if one exists. In contrast, this paper describes a multi-phase approach to the planning problem that guarantees a solution by creating and maintaining obstacle-free paths through the environment as required for each robot to reach its goal. Using a topological graph and spanning tree representation of a tunnel or corridor environment, …