DocumentCode
2597056
Title
Finding graph topologies for feasible multirobot motion planning
Author
Kolhe, P. ; Christensen, H.I.
Author_Institution
Sch. of Interactive Comput., Georgia Inst. of Technol., Atlanta, GA, USA
fYear
2012
fDate
7-12 Oct. 2012
Firstpage
3754
Lastpage
3759
Abstract
In this paper we present a design methodology for mapping the configuration space of multirobot systems in a warehouse. The method generates a tree topology with robot and terminal nodes. In the most general case multirobot motion planning problems are NP-complete. But, we show that pebble motion problems in the resultant tree topology are always feasible. Our method uses an integer programming formulation to find such a solution.
Keywords
integer programming; mobile robots; multi-robot systems; path planning; trees (mathematics); warehouse automation; NP-complete problems; configuration space mapping; design methodology; graph topologies; integer programming formulation; multirobot motion planning problem; multirobot systems; pebble motion problems; robot nodes; terminal nodes; tree topology; warehouse; Junctions; Linear programming; Network topology; Planning; Robots; Steiner trees; Topology; graph theory; integer programming; multirobot motion planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location
Vilamoura
ISSN
2153-0858
Print_ISBN
978-1-4673-1737-5
Type
conf
DOI
10.1109/IROS.2012.6386147
Filename
6386147
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