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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6386147
