Path planning for permutation-invariant multirobot formations

IEEE Transactions on Robotics

Volumn 22, Issue 4, 2006, Pages 650-665

  Kloder, Stephen ^a   Hutchinson, Seth ^a  

^a UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

Author keywords

Configuration spaces; Mobile robots; Multirobot systems; Path planning

Indexed keywords

INVARIANCE; MOBILE ROBOTS; MOTION PLANNING; POLYNOMIALS;

CONFIGURATION SPACES; MULTIROBOT SYSTEMS; PERMUTATION-INVARIANT FORMATION SPACE;

ROBOTICS;

EID: 33747584387     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2006.878952     Document Type: Article

References (52)

1. D. Fox, W. Burgard, H. Kruppa, and S. Thrun, "A probabilistic approach to collaborative multi-robot localization," Auton. Robots, vol. 8, no. 3, pp. 325-344, Jun. 2000.
2. J. Feddema and D. Schoenwald, "Decentralized control of cooperative robotic vehicles," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 852-864, Oct. 2002.
3. J. S. Jennings, G. Whelan, and W. F. Evans, "Cooperative search and rescue with a team of mobile robots," in Proc. IEEE Int. Conf. Adv. Robot., Jul. 7-9, 1997, pp. 193-200.
4. D. Rus, B. Donald, and J. Jennings, "Moving furniture with teams of autonomous robots," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Pittsburgh, PA, Aug. 1995, pp. 235-242.
5. M. Mataric, M. Nilsson, and K. Simsarian, "Cooperative multi-robot box pushing," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Pittsburgh, PA, Aug. 1995, pp. 556-561.
6. A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer, and C. Taylor, "A vision-based formation control framework," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 813-825, Oct. 2002.
7. J. Latombe, Robot Motion Planning. Norwell, MA: Kluwer, 1991.
8. J. Schwartz and M. Sharir, "On the piano movers' problem: III. Coordinating the motion of several independent bodies: The special case of circular bodies moving amidst polygonal barriers," Robot. Res., vol. 2, no. 3, pp. 46-75, 1983.
9. P. Svestka and M. Overmars, "Coordinated path planning for multiple robots," Robot. Auton. Syst., vol. 23, no. 4, pp. 125-152, 1998.
10. G. Sanchez and J. Latombe, "Using a PRM planner to compare centralized and decoupled planning for multi-robot systems," in Proc. IEEE Int. Conf. Robot. Autom., May 2002, vol. 2, pp. 2112-2119.
11. Y. Guo and L. E. Parker, "A distributed and optimal motion planning approach for multiple mobile robots," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, May 2002, pp. 2612-2619.
12. T. Simeon, S. Leroy, and J.-P. Laumond, "Path coordination for multiple mobile robots: A resolution complete algorithm," IEEE Trans. Robot. Autom., vol. 18, no. 1, pp. 42-49, Feb. 2002.
13. S. M. LaValle and S. A. Hutchinson, "Optimal motion planning for multiple robots having independent goals," IEEE Trans. Robot. Autom., vol. 14, no. 6, pp. 912-925, Dec. 1998.
14. M. Bennewitz, W. Burgard, and S. Thrun, "Finding and optimizing solvable priority schemes for decoupled path planning techniques for teams of mobile robots," Robot. Auton. Syst., vol. 41, no. 2, pp. 89-99, 2002.
15. J. Peng and S. Akella, "Coordinating multiple robots with kinodynamic constraints along specified paths," Int. J. Robot. Res., vol. 24, pp. 295-310, Apr. 2005.
16. R. Arkin, Behavior-Based Robotics. Cambridge, MA: MIT Press, 1998.
17. P. Tabuada, G. Pappas, and P. Lima, "Feasible formations of multi-agent systems," in Proc. Amer. Control Conf., Arlington, VA, Jun. 2001, pp. 56-61.
18. K. H. Tan and M. A. Lewis, "Virtual structures for high precision cooperative mobile robot control," Auton. Robots, vol. 4, pp. 387-403, Oct. 1997.
19. D. Bendersky and J. Santos, "Robot formations as an emergent collective task using target-following behavior," in Proc. 4th Argentine Symp. Artif. Intell., Santa Fe, Argentina, Sep. 2002, CD-ROM.
20. T. Balch and R. C. Arkin, "Behavior-based formation control for multi-robot teams," IEEE Trans. Robot. Autom., vol. 14, no. 6, pp. 926-939, Dec. 1998.
21. J. Fredslund and M. Mataric, "A general algorithm for robot formations using local sensing and minimal communication," IEEE Trans. Robot. Autom., vol. 18, no. 5, pp. 837-846, Oct. 2002.
22. V. Gazi, "Swarm aggregations using artificial potentials and sliding-mode control regions," IEEE Trans. Robot., vol. 21, no. 6, pp. 1208-1214, Dec. 2005.
23. H. G. Tanner, G. J. Pappas, and V. Kumar, "Leader-to-formation stability," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 443-455, Jun. 2004.
24. P. Tabuada, G. J. Pappas, and P. Lima, "Motion feasibility of multi-agent formations," IEEE Trans. Robot., vol. 21, no. 3, pp. 387-392, Jun. 2005.
25. P. Ogren, E. Fiorelli, and N. Leonard, "Formations with a mission: Stable coordination of vehicle group maneuvers," in Proc. 15th Int. Symp. Math. Theory Netw. Syst., Notre Dame, IN, Aug. 2002, CD-ROM.
26. D. W. Gage, "Command control for many-robot systems," in Proc. 19th Annu. AUVS Tech. Symp., Hunstville, AL, Jun. 1992, pp. 22-24.
27. S. Poduri and G. Sukhatme, "Constrained coverage for mobile sensor networks," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, Apr. 2004, vol. 1, pp. 165-171.
28. A. Howard, M. Mataric, and G. Sukhatme, "An incremental deployment algorithm for mobile robot teams," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 2002, vol. 3, pp. 2849-2854.
29. B. Yamauchi, "A frontier-based approach for autonomous exploration," in Proc. IEEE Int. Symp. Comput. Intell. Robot. Autom., Jul. 1997, pp. 146-151.
30. Q. Du, V. Faber, and M. Gunzburger, "Centroidal Voronoi tessellations: Applications and algorithms," SIAM Rev., vol. 41, no. 4, pp. 637-676, 1999.
31. A. Okabe and A. Suzuki, "Locational optimization problems solved through Voronoi diagrams," Euro. J. Oper. Res., vol. 1998, pp. 445-456, 1997.
32. J. Cortes, S. Martinez, and T. K. T. F. Bullo, "Coverage control for mobile sensing networks," IEEE Trans. Robot. Autom., vol. 20, no. 2, pp. 243-255, Apr. 2004.
33. D. Popa, H. Stephanou, C. Helm, and A. Sanderson, "Robotic deployment of sensor networks using potential fields," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, Apr. 2004, vol. 1, pp. 642-647.
34. T. Clouqueur, V. Phipatanasuphorn, P. Ramanathan, and K. K. Saluja, "Sensor deployment strategy for target detection," in Proc. 1st ACM Int. Workshop Wireless Sensor Netw. Appl., Sep. 2002, pp. 42-48.
35. E. Acar, Y. Zhang, H. Choset, M. Schervish, A. Costa, R. Melamud, D. Lean, and A. Graveline, "Path planning for robotic demining and development of a test platform," in Proc. Int. Conf. Field Service Robot., 2001, pp. 161-168.
36. G. Schmidt and C. Hofner, "An advanced planning and navigation approach for autonomous cleaning robot operations," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 1998, vol. 2, pp. 1230-1235.
37. D. Kurabayashi, J. Ota, T. Arai, and E. Yoshida, "Cooperative sweeping by multiple mobile robots," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 1996, vol. 2, pp. 1744-1749.
38. I. Rekleitis, G. Dudek, and E. Milios, "Multi-robot collaboration for robust exploration," in Proc. IEEE Int. Conf. Robot. Autom., 2000, vol. 4, pp. 3164-3169.
39. I. Rekleitis, V. Lee-Shue, A. P. New, and H. Choset, "Limited communication, multi-robot team based coverage," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, Apr. 2004, vol. 4, pp. 3462-3468.
40. I. Wagner, M. Lindenbaum, and A. Bruckstein, "Distributed covering by ant-robots using evaporating traces," IEEE Trans. Robot. Autom., vol. 15, no. 5, pp. 918-933, Oct. 1999.
41. W. Burgard, M. Moors, C. Stachniss, and F. E. Schneider, "Coordinated multi-robot exploration," IEEE Trans. Robot., vol. 21, no. 3, pp. 376-386, Jun. 2005.
42. S. Kloder, S. Bhattacharya, and S. Hutchinson, "A configuration space for permutation-invariant multi-robot formations," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, Apr. 2004, vol. 3, pp. 2746-2751.
43. S. Kloder and S. Hutchinson, "Path planning for permutation-invariant multi-robot formations," in Proc. IEEE Int. Conf. Robot. Autom., Barcelona, Spain, Apr. 2005, CD-ROM.
44. C. F. Gauss, "Beitrage zur theorie der algebraischen gleichungen," Abh. Ges. Wiss. Gottingen, vol. 4 (1850), Ges. Werke vol. 3, pp. 73-102.
45. T. Motzkin and A. Ostrowski, "Uber den fundamentalsalz der algabra," Sitzb. Preuss. Akad. Wiss. Phys. Math. Klasse, pp. 1-4, 1933.
46. M. Marden, The Geometry of the Zeros of a Polynomial in a Complex Variable. New York: Amer. Math. Soc., 1949.
47. L. Kavraki, P. Svestka, J. C. Latombe, and M. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Trans. Robot. Autom., vol. 12, no. 4, pp. 556-580, Aug. 1996.
48. V. Kharitonov, "Asymptotic stability of an equilibrium position of a family of systems of linear differential equations," Differen. Equat., vol. 14, pp. 1483-1485, 1979.
49. A. C. Bartlett, C. V. Hollot, and L. Huang, "Root location of an entire polytope of polynomials: It suffices to check the edges," Math. Contr., Signals Syst., vol. 1, pp. 61-71, 1988.
50. /p stability of polynomials with complex coefficients," IEEE Trans. Autom. Control, vol. 38, no. 8, pp. 1304-1308, Aug. 1993.
51. A. Katbab and E. Jury, "A note on two methods related to stability robustness of polynomials in a sector (relative stability)," IEEE Trans. Autom. Control, vol. 38, no. 2, pp. 380-383, Feb. 1993.
52. M. Bozorg and E. M. Nebot, "Comments on 'A note on two methods related to stability robustness of polynomials in a sector (relative stability)'," IEEE Trans. Autom. Control, vol. 42, no. 5, pp. 712-714, May 1997.