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Operations Research, Systems Engineering and Industrial Engineering Commons

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Departmental Papers (ESE)

Controls and Control Theory

Coordinated motion planning

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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Coordinated Robot Navigation Via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek Mar 2016

Coordinated Robot Navigation Via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek

Departmental Papers (ESE)

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in ...