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Home / Proceedings / Proceedings of the International Conference on Automated Planning and Scheduling, 27 / Book One

Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics

February 1, 2023

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Authors

Duong Le,Erion Plaku

Catholic University of America,Catholic University of America


DOI:

10.1609/icaps.v27i1.13854


Abstract:

This paper develops an effective, cooperative, and probabilistically-complete multi-robot motion planner. The approach takes into account geometric and differential constraints imposed by the obstacles and the robot dynamics by using sampling to expand a motion tree in the composite state space of all the robots. Scalability and efficiency is achieved by using solutions to a simplified problem representation that does not take dynamics into account to guide the motion-tree expansion. The heuristic solutions are obtained by constructing roadmaps over low-dimensional configuration spaces and relying on cooperative multi-agent graph search to effectively find graph routes. Experimental results with second-order vehicle models operating in complex environments, where cooperation among the robots is required to find solutions, demonstrate significant improvements over related work.

Topics: ICAPS

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HOW TO CITE:

Duong Le,Erion Plaku Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics Proceedings of the International Conference on Automated Planning and Scheduling, 27 (2017) 513-521.

Duong Le,Erion Plaku Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics ICAPS 2017, 513-521.

Duong Le,Erion Plaku (2017). Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics. Proceedings of the International Conference on Automated Planning and Scheduling, 27, 513-521.

Duong Le,Erion Plaku. Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics. Proceedings of the International Conference on Automated Planning and Scheduling, 27 2017 p.513-521.

Duong Le,Erion Plaku. 2017. Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics. "Proceedings of the International Conference on Automated Planning and Scheduling, 27". 513-521.

Duong Le,Erion Plaku. (2017) "Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics", Proceedings of the International Conference on Automated Planning and Scheduling, 27, p.513-521

Duong Le,Erion Plaku, "Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics", ICAPS, p.513-521, 2017.

Duong Le,Erion Plaku. "Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics". Proceedings of the International Conference on Automated Planning and Scheduling, 27, 2017, p.513-521.

Duong Le,Erion Plaku. "Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics". Proceedings of the International Conference on Automated Planning and Scheduling, 27, (2017): 513-521.

Duong Le,Erion Plaku. Cooperative Multi-Robot Sampling-Based Motion Planning with Dynamics. ICAPS[Internet]. 2017[cited 2023]; 513-521.


ISSN: 2334-0843


Published by AAAI Press, Palo Alto, California USA
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