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Full-Text Articles in Physical Sciences and Mathematics
Dynamic Networks For Motion Planning In Multi-Robot Space Systems, Christopher M. Clark, Stephen M. Rock, Jean-Claude Latombe
Dynamic Networks For Motion Planning In Multi-Robot Space Systems, Christopher M. Clark, Stephen M. Rock, Jean-Claude Latombe
Computer Science and Software Engineering
A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. The framework is applicable to both planetary rover and free-floating space robot applications. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information becomes available to all robots in …
Randomized Motion Planning For Groups Of Nonholonomic Robots, Christopher M. Clark, Stephen M. Rock.
Randomized Motion Planning For Groups Of Nonholonomic Robots, Christopher M. Clark, Stephen M. Rock.
Computer Science and Software Engineering
This paper presents a technique for motion planning which is capable of planning trajectories for a large number of nonholonomic robots. The robots plan within a two dimensional environment that consists of stationary/moving obstacles, and fixed boundaries. Each robot uses randomized motion planner techniques based on Probabilistic Road Maps (PRM’s) to construct it’s own trajectory that is free of collisions with moving obstacles and other robots. The randomized motion planner allows easy integration of the robots nonholonomic constraint into the planning so that only kinematically consistent plans are constructed. It is important to include this constraint in the planning problem …