Motion planning for multiple mobile robots using dynamic networks

A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information then becomes available to all robots in this network. With this new information, each robot uses a fast, centralized planner to compute new coordinated trajectories on the fly. Planning over several robot networks is decentralized and distributed. Both simulated and real-robot experiments have validated the approach.

[1]  John F. Canny,et al.  A motion planner for multiple mobile robots , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[2]  Vladimir J. Lumelsky,et al.  Decentralized Motion Planning for Multiple Mobile Robots: The Cocktail Party Model , 1997, Auton. Robots.

[3]  Steven M. LaValle,et al.  Optimal motion planning for multiple robots having independent goals , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[4]  S. Zucker,et al.  Toward Efficient Trajectory Planning: The Path-Velocity Decomposition , 1986 .

[5]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[6]  Charles W. Warren,et al.  Multiple robot path coordination using artificial potential fields , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[7]  Mark H. Overmars,et al.  Coordinated motion planning for multiple car-like robots using probabilistic roadmaps , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[8]  Yi Guo,et al.  A distributed and optimal motion planning approach for multiple mobile robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[9]  Günther Schmidt,et al.  Conflict-free motion of multiple mobile robots based on decentralized motion planning and negotiation , 1997, Proceedings of International Conference on Robotics and Automation.

[10]  Stephen M. Rock,et al.  Dynamic Networks for Motion Planning in Multi-Robot Space Systems , 2003 .

[11]  Stephen M. Rock,et al.  Randomized Motion Planning for Groups of Nonholonomic Robots , 2001 .

[12]  Jean-Claude Latombe,et al.  Kinodynamic motion planning amidst moving obstacles , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[13]  Christopher M. Clark,et al.  Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems , 2002, Proceedings, IEEE Aerospace Conference.

[14]  Stephen J. Buckley,et al.  Fast motion planning for multiple moving robots , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[15]  Rajeev Motwani,et al.  Path planning in expansive configuration spaces , 1997, Proceedings of International Conference on Robotics and Automation.

[16]  Steven M. LaValle,et al.  Randomized Kinodynamic Planning , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[17]  Jun Ota,et al.  Motion Planning of Multiple Mobile Robots , 1992 .

[18]  Mark H. Overmars,et al.  Multilevel Path Planning for Nonholonomic Robots Using Semiholonomic Subsystems , 1998, Int. J. Robotics Res..

[19]  Jean-Claude Latombe,et al.  On Delaying Collision Checking in PRM Planning: Application to Multi-Robot Coordination , 2002, Int. J. Robotics Res..

[20]  Tomás Lozano-Pérez,et al.  On multiple moving objects , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[21]  Jean-Claude Latombe,et al.  Randomized Kinodynamic Motion Planning with Moving Obstacles , 2002, Int. J. Robotics Res..

[22]  Raja Chatila,et al.  Stochastic multisensory data fusion for mobile robot location and environment modeling , 1989 .

[23]  Jun Ota,et al.  Motion Pianning Of Multiple Mobile Robots , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[24]  Jun'ichi Takeno,et al.  Coordinating Mobile Robots By Applying Traffic Rules , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[25]  Wolfram Burgard,et al.  Optimizing schedules for prioritized path planning of multi-robot systems , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[26]  Rachid Alami,et al.  Multi-robot cooperation through incremental plan-merging , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[27]  Jean-Claude Latombe,et al.  On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[28]  Jean-Claude Latombe,et al.  Autonomous agents for real-time animation , 1999 .

[29]  Mark H. Overmars,et al.  Coordinated path planning for multiple robots , 1998, Robotics Auton. Syst..

[30]  Jihong Lee,et al.  A minimum-time trajectory planning method for two robots , 1992, IEEE Trans. Robotics Autom..

[31]  Jean-Claude Latombe,et al.  Numerical potential field techniques for robot path planning , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[32]  Jean-Claude Latombe,et al.  Using a PRM planner to compare centralized and decoupled planning for multi-robot systems , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[33]  Thierry Siméon,et al.  Multiple Path Coordination for Mobile Robots: A Geometric Algorithm , 1999, IJCAI.