Probabilistic path planning for multiple robots with subdimensional expansion

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 2886-2892

  Wagner, Glenn ^a   Kang, Minsu ^b   Choset, Howie ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b Seoul National University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); EXPANSION; INDUSTRIAL ROBOTS; PLANNING; ROBOT PROGRAMMING;

CONFIGURATION SPACE; CURSE OF DIMENSIONALITY; HIGH-DIMENSIONAL SYSTEMS; LOW-DIMENSIONAL SPACES; PATH-PLANNING ALGORITHM; PROBABILISTIC PATH PLANNING; PROBABILISTIC ROAD MAPS; RAPIDLY-EXPLORING RANDOM TREES;

MOTION PLANNING;

EID: 84864426626     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6225297     Document Type: Conference Paper

References (20)

1. R. Bohlin and L.E. Kavraki. Path planning using lazy prm. In Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, volume 1, pages 521-528. IEEE, 2000.
2. V. Boor, M.H. Overmars, and A.F. van der Stappen. The gaussian sampling strategy for probabilistic roadmap planners. In Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, volume 2, pages 1018-1023. IEEE, 1999.
3. S. Carpin and E. Pagello. On parallel RRTs for multi-robot systems. In Proc. 8th Conf. Italian Association for Artificial Intelligence, pages 834-841. Citeseer, 2002.
4. C. M. Clark, S. M. Rock, and J. C. Latombe. Motion planning for multiple robot systems using dynamic networks. In Proceedings of IEEE International Conference on Robotics and Automation, pages 4222-4227, 2003.
5. M. Erdmann and T. Lozano-Perez. On multiple moving objects. Algorithmica, 2(1):477-521, 1987.
6. D. Ferguson, N. Kalra, and A. Stentz. Replanning with rrts. In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages 1243-1248. IEEE, 2006.
7. D. Hsu, T. Jiang, J. Reif, and Z. Sun. The bridge test for sampling narrow passages with probabilistic roadmap planners. In Robotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on, volume 3, pages 4420-4426. IEEE, 2003.
8. K. Kant and S.W. Zucker. Toward efficient trajectory planning: The path-velocity decomposition. The International Journal of Robotics Research, 5(3):72, 1986.
9. L. E. Kavraki, P. Svestka, J.-C. Latombe, and M. H. Overmars. Probabilistic roadmaps for path planning in high-dimensional configurations spaces. IEEE Transactions on Robotics and Automation, 12:566-580, June 1996.
10. L.E. Kavraki, M.N. Kolountzakis, and J.C. Latombe. Analysis of probabilistic roadmaps for path planning. In Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, volume 4, pages 3020-3025. IEEE, 1996.
11. S. M. LaValle and J. J. Kuffner. Randomized kinodynamic planning. In Proceedings IEE International Conference on Robotics and Automation, 1999.
12. Stephane Leroy, Jean-Paul Laumond, and Thierry Siméon. Multiple path coordination for mobile robots: A geometric algorithm. In IJCAI '99: Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence, pages 1118-1123, San Francisco, CA, USA, 1999. Morgan Kaufmann Publishers Inc.
13. Ryan Malcom. Multi-robot path-planning with subgraphs. In Australasian Conference on Robotics and Automation, 2006.
14. M. Saha and P. Isto. Multi-robot motion planning by incremental coordination. In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages 5960-5963, Oct. 2006.
15. G. Sánchez and J.C. Latombe. On delaying collision checking in prm planning: Application to multi-robot coordination. The International Journal of Robotics Research, 21(1):5, 2002.
16. G. Sanchez and J.C. Latombe. Using a prm planner to compare centralized and decoupled planning for multi-robot systems. In Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, volume 2, pages 2112-2119. IEEE, 2002.
17. I.A. Sucan and L.E. Kavraki. Mobile manipulation: Encoding motion planning options using task motion multigraphs. In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages 5492-5498. IEEE, 2011.
18. I.A. Sucan and L.E. Kavraki. On the advantages of task motion multigraphs for efficient mobile manipulation. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages 4621-4626. IEEE, 2011.
19. P. Švestka and M.H. Overmars. Coordinated path planning for multiple robots. Robotics and Autonomous Systems, 23(3):125-152, 1998.
20. Glenn Wagner and Howie Choset. M*: A complete multirobot path planning algorithm with performance bounds. In Intelligent Robots and Systems, 2011 IEEE/RSJ International Conference on, September 2011.