Exact Pareto-optimal coordination of two translating polygonal robots on an acyclic roadmap

Author

Chitsaz, Hamidreza ; O´Kane, Jason M. ; LaValle, Steven M.

Author_Institution

Dept. of Comput. Sci., Illinois Univ., Urbana, IL, USA

Volume

4

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

3981

Abstract

We present an algorithm that computes the complete set of Pareto-optimal coordination strategies for two translating polygonal robots in the plane. A collision-free acyclic roadmap of piecewise-linear paths is given on which the two robots move. The robots have a maximum speed and are capable of instantly switching between any two arbitrary speeds. Each robot would like to minimize its travel time independently. The Pareto-optimal solutions are the ones for which there exist no solutions that are better for both robots. The algorithm computes exact solutions in time O(mn² log n), in which m is the number of paths in the roadmap, n is the number of coordination space vertices. An implementation is presented.

Keywords

Pareto optimisation; collision avoidance; minimisation; mobile robots; multi-robot systems; piecewise linear techniques; Pareto optimal coordination; acyclic roadmap; arbitrary speeds; collision avoidance; mobile robots; piecewise linear paths; polygonal robots; travel time minimisation; Computer networks; Computer science; Mobile robots; Orbital robotics; Piecewise linear techniques; Processor scheduling; Remotely operated vehicles; Road accidents; Robot kinematics; Space exploration;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308892

Filename

1308892