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Full-Text Articles in Physical Sciences and Mathematics
A Complete And Scalable Strategy For Coordinating Multiple Robots Within Roadmaps, Mike Peasgood, Christopher M. Clark, John Mcphee
A Complete And Scalable Strategy For Coordinating Multiple Robots Within Roadmaps, Mike Peasgood, Christopher M. Clark, John Mcphee
Computer Science and Software Engineering
This paper addresses the challenging problem of finding collision-free trajectories for many robots moving toward individual goals within a common environment. Most popular algorithms for multirobot planning manage the complexity of the problem by planning trajectories for robots individually; such decoupled methods are not guaranteed to find a solution if one exists. In contrast, this paper describes a multiphase approach to the planning problem that uses a graph and spanning tree representation to create and maintain obstacle-free paths through the environment for each robot to reach its goal. The resulting algorithm guarantees a solution for a well-defined number of robots …
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, …