Proceedings ArticleDOI
Optimizing schedules for prioritized path planning of multi-robot systems
Maren Bennewitz,Wolfram Burgard,Sebastian Thrun +2 more
- Vol. 1, pp 271-276
TLDR
The experimental results demonstrate that the method is able to greatly reduce the number of failures and to significantly reduce the overall path length for different prioritized and decoupled path planning techniques and even for large teams of robots.Abstract:
The coordination of robot motions is one of the fundamental problems for multi-robot systems. A popular approach to avoid planning in the high-dimensional composite configuration space is the prioritized and decoupled technique. In this paper we present a method for optimizing priority schemes for such prioritized and decoupled planning technique. Our approach performs a randomized search with hill-climbing to find solutions and to minimize the overall path lengths. The technique has been implemented and tested on real robots and in extensive simulation runs. The experimental results demonstrate that our method is able to greatly reduce the number of failures and to significantly reduce the overall path length for different prioritized and decoupled path planning techniques and even for large teams of robots.read more
Citations
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Journal ArticleDOI
A Survey and Analysis of Multi-Robot Coordination
TL;DR: This paper presents a systematic survey and analysis of the existing literature on coordination, especially in multiple mobile robot systems (MMRSs), which includes a communication mechanism, a planning strategy and a decision-making structure.
Journal ArticleDOI
Perception, Planning, Control, and Coordination for Autonomous Vehicles
Scott Pendleton,Hans Andersen,Xinxin Du,Xiaotong Shen,Malika Meghjani,You Hong Eng,Daniela Rus,Marcelo H. Ang +7 more
TL;DR: In this paper, the authors provide a general overview of the recent developments in the realm of autonomous vehicle software systems, and discuss the fundamental components of the software, as well as recent developments of each area.
Traderbots: a new paradigm for robust and efficient multirobot coordination in dynamic environments
TL;DR: TraderBots is developed, a market-based coordination approach that is inherently distributed, but can also opportunistically form centralized subgroups to improve efficiency.
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Sweep Coverage with Mobile Sensors
TL;DR: This work studies a new coverage scenario, sweep coverage, which differs with the previous static coverage, and proposes a centralized algorithm with constant approximation ratio 3 for the min-sensor sweep-coverage problem, and designs a distributed sweep algorithm, DSWEEP, cooperating sensors to provide efficiency with the best effort.
Proceedings ArticleDOI
Sweep coverage with mobile sensors
TL;DR: This work studies a new coverage scenario, sweep coverage, which differs with the previous static coverage, and proposes a centralized algorithm with constant approximation ratio 2 + epsi for the simplified problem where all sweep periods are identical.
References
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Book
Robot Motion Planning
TL;DR: This chapter discusses the configuration space of a Rigid Object, the challenges of dealing with uncertainty, and potential field methods for solving these problems.
Journal ArticleDOI
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
TL;DR: Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Proceedings ArticleDOI
High resolution maps from wide angle sonar
Hans P. Moravec,Alberto Elfes +1 more
TL;DR: The use of multiple wide-angle sonar range measurements to map the surroundings of an autonomous mobile robot deals effectively with clutter, and can be used for motion planning and for extended landmark recognition.
Proceedings Article
A new method for solving hard satisfiability problems
TL;DR: A greedy local search procedure called GSAT is introduced for solving propositional satisfiability problems and its good performance suggests that it may be advantageous to reformulate reasoning tasks that have traditionally been viewed as theorem-proving problems as model-finding tasks.
Sequencing and scheduling: algorithms and complexity
TL;DR: This survey focuses on the area of deterministic machine scheduling, and reviews complexity results and optimization and approximation algorithms for problems involving a single machine, parallel machines, open shops, flow shops and job shops.