Optimal motion planning for multiple robots having independent goals

IEEE Transactions on Robotics and Automation

Volumn 14, Issue 6, 1998, Pages 912-925

  LaValle, Steven M ^a,b   Hutchinson, Seth A ^a,c  

^a IEEE   (United States)

^b Iowa State University   (United States)

^c United States of America   (United States)

Author keywords

Game theory; Mobile robots; Motion planning; Multiobjective optimization; Multiple robots; Obstacle avoidance; Path planning; Scheduling

Indexed keywords

ALGORITHMS; MOBILE ROBOTS; MULTIPURPOSE ROBOTS; OPTIMIZATION; ROBOTS;

MULTIPLE ROBOTS;

MOTION PLANNING;

EID: 0032316235     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.736775     Document Type: Article

References (27)

1. M. D. Ardema and J. M. Skowronski, "Dynamic game applied to coordination control of two arm robotic system," Differential Game-Development in Modeling and Computation, R. P. Hämäläinen and H. K. Ehtamo, Eds. Berlin, Germany: Springer-Verlag, 1991, pp. 118-130.
2. T. Bagar and G. J. Olsder, Dynamic Noncooperative Game Theory. London, U.K.: Academic, 1982.
3. J. Barraquand and J.-C. Latombe, "Robot motion planning: A distributed representation approach," Int. J. Robot. Res., vol. 10, no. 6, pp. 628-649, Dec. 1991.
4. A. G. Barto, R. S. Sutton, and C. J. C. H. Watkins, "Learning and sequential decision making." Learning and Computational Neuroscience: Foundations of Adaptive Network, M. Gabriel and J. W. Moore, Eds. Cambridge, MA: MIT Press, 1990, pp. 539-602.
5. K. Basye, T. Dean, J. Kirman, and M. Lejter, "A decision-theoretic approach to planning, perception, and control," IEEE Expert, vol. 7, pp. 58-65, Aug. 1992.
6. Z. Bien and J. Lee, "A minimum-time trajectory planning method for two robots," IEEE Trans. Robot. Automat., vol. 8, pp. 414-418, June 1992.
7. S. J. Buckley, "Fast motion planning for multiple moving robots," in IEEE Int. Conf. Robot. Automat., 1989, pp. 322-326.
8. J. F. Canny, The Complexity of Robot Motion Planning. Cambridge, MA: MIT Press, 1988.
9. C. Chang, M. J. Chung, and B. H. Lee, "Collision avoidance of two robot manipulators by minimum delay time," IEEE Trans. Syst., Man, Cybern., vol. 24, pp. 517-522, Mar. 1994.
10. T. H. Cormen, C. E. Leiserson, and R. L. Rivest, An Introduction to Algorithms. Cambridge, MA: MIT Press, 1990.
11. M. Erdmann and T. Lozano-Perez, "On multiple moving objects." in IEEE Int. Conf. Robot. Automat., 1986, pp. 1419-1424.
12. J. G. Hocking and G. S. Young, Topology. New York: Dover, 1988.
13. H. Hu, M. Brady, and P. Probert, "Coping with uncertainty in control and planning for a mobile robot," in IEEE/RSJ Int. Workshop Intell. Robots Syst., Osaka, Japan, Nov. 1991, pp. 1025-1030.
14. K. Kant and S. W. Zucker, "Toward efficient trajectory planning: The path-velocity decomposition," Int. J. Robot. Res., vol. 5, no. 3, pp. 72-89, 1986.
15. J.-C. Latombe, Robot Motion Planning. Boston, MA: Kluwer, 1991.
16. S. M. LaValle. "A game-theoretic framework for robot motion planning," Ph.D. dissertation, Univ. Illinois, Urbana, July 1995.
17. J. Miura and Y. Shirai, "Planning of vision and motion for a mobile robot using a probabilistic model of uncertainty," in IEEE/RSJ Int. Workshop Intell. Robots Syst., Osaka, Japan, May 1991, pp. 403-408.
18. P. A. O'Donnell and T. Lozano-Perez, "Deadlock-free and collision-free coordination of two robot manipulators," in IEEE Int. Conf. Robot. Automat., 1989, pp. 484-489.
19. C. O'Dunlaing and C. K. Yap, "A retraction method for planning the motion of a disc," J. Algorithms, vol. 6, pp. 104-111, 1982.
20. E. Rimon and D. E. Koditschek, "Exact robot navigation using artificial potential fields," IEEE Trans. Robot. Automat., vol. 8, pp. 501-518, Oct. 1992.
21. Y. Sawaragi, H. Nakayama, and T. Tanino, Theory of Multiobjective Optimization. New York: Academic, 1985.
22. J. T. Schwartz and M. Sharir, "On the piano movers' problem: III. Coordinating the motion of several independent bodies," Int. J. Robot. Res., vol. 2, no. 3, pp. 97-140, 1983.
23. K. G. Shin and Q. Zheng, "Minimum-time collision-free trajectory planning for dual-robot systems," IEEE Trans. Robot. Automat., vol. 8, pp. 641-644, Oct. 1992.
24. S.-H. Suh and K. G. Shin, "A variational dynamic programming approach to robot-path planning with a distance-safety criterion," IEEE Trans. Robot. Automat., vol. 4, pp. 334-349, June 1988.
25. R. S. Sutton, "Planning by incremental dynamic programming," in Proceedings of the 8th International Workshop on Machine Learning. New York: Morgan Kaufmann, 1991, pp. 353-357.
26. F.-Y. Wang and P. J. A. Lever, "A cell mapping method for general optimum trajectory planning of multiple robotic arms," Robot Auton. Syst., vol. 12, pp. 15-27, 1994.
27. S. Zionts, "Multiple criteria mathematical programming: An overview and several approaches," in Mathematics of Multi-Objective Optimization, P. Serafini, Ed. Berlin, Germany: Springer-Verlag, 1985, pp. 227-273.