DocumentCode :
1867971
Title :
Pareto optimal multi-robot coordination with acceleration constraints
Author :
Jung, Jae Bum ; Ghrist, Robert
Author_Institution :
Dept. of Math., Univ. of Illinois, Urbana, IL
fYear :
2008
fDate :
19-23 May 2008
Firstpage :
1942
Lastpage :
1947
Abstract :
We consider a collection of robots sharing a common environment, each robot constrained to move on a roadmap in its configuration space. To program optimal collision-free motions requires a choice of the appropriate notion of optimality. We work in the case where each robot wishes to travel to a goal while optimizing elapsed time and consider vector-valued (Pareto) optima. Earlier work demonstrated a finite number of Pareto-optimal classes of motion plans when the robots are subjected to velocity bounds but no acceleration bounds. This paper demonstrates that when velocity and acceleration are bounded, the finiteness result still holds for certain systems, e.g., two robots; however, in the general case, the acceleration bounds can lead to continua of Pareto optima. We give examples and explain the result in terms of the geometry of phase space.
Keywords :
Pareto optimisation; mobile robots; multi-robot systems; path planning; Pareto optimal multirobot coordination; acceleration constraints; multirobot motion planning; Acceleration; Cost function; History; Mathematics; Motion planning; Orbital robotics; Pareto optimization; Robot kinematics; Robotics and automation; USA Councils;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
ISSN :
1050-4729
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2008.4543491
Filename :
4543491
Link To Document :
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