Sampling-based Multi-robot Motion Planning

International audience This paper describes a sampling-based approach to multi-robot motion planning. The proposed approach is centralized, which aims to reduce interference between mobile robots such as collision, congestion and deadlock, by increasing the number of waypoints. The implementation ba...

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Bibliographic Details
Published in:Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics
Main Authors: Yan, Zhi, Jouandeau, Nicolas, Cherif, Arab
Other Authors: Laboratoire d'Informatique Avancée de Saint-Denis (LIASD), Université Paris 8 Vincennes-Saint-Denis (UP8)
Format: Conference Object
Language:English
Published: HAL CCSD 2013
Subjects:
Multi-robot systems
Coordination
Motion planning
Sampling-based method
[INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Reykjavík
Iceland
Online Access:https://hal.archives-ouvertes.fr/hal-02317132
https://hal.archives-ouvertes.fr/hal-02317132/document
https://hal.archives-ouvertes.fr/hal-02317132/file/Sampling-based-MRS.pdf
https://doi.org/10.5220/0004605005490554
Description
Summary:International audience This paper describes a sampling-based approach to multi-robot motion planning. The proposed approach is centralized, which aims to reduce interference between mobile robots such as collision, congestion and deadlock, by increasing the number of waypoints. The implementation based on occupancy grid map is decomposed into three steps: the first step is to identify primary waypoints by using the Voronoi diagram, the second step is to generate additional waypoints by sampling the Voronoi diagram, and the last step is to assign the waypoints to robots by using the Hungarian method. The approach has been implemented and tested in simulation and the experimental results show a good system performance for multi-robot motion planning.

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