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Physical Sciences and Mathematics Commons™
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California Polytechnic State University, San Luis Obispo
Multi-robot systems; Robot coordination; Motion planning; Probabilistic Road Maps; Robot networks; Ad hoc communication networks
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Probabilistic Road Map Sampling Strategies For Multi-Robot Motion Planning, Christopher M. Clark
Probabilistic Road Map Sampling Strategies For Multi-Robot Motion Planning, Christopher M. Clark
Computer Science and Software Engineering
This paper presents a Probabilistic Road Map (PRM) motion planning algorithm to be queried within Dynamic Robot Networks—a multi-robot coordination platform for robots operating with limited sensing and inter-robot communication. First, the Dynamic Robot Networks (DRN) coordination platform is introduced that facilitates centralized robot coordination across ad hoc networks, allowing safe navigation in dynamic, unknown environments. As robots move about their environment, they dynamically form communication networks. Within these networks, robots can share local sensing information and coordinate the actions of all robots in the network. Second, a fast single-query Probabilistic Road Map (PRM) to be called within the DRN …