Name
Abstract | ||
|---|---|---|
We present Assignment Space Planning, a new efficient robot multi-agent coordination algorithm for the PSPACE-hard problem of multi-robot multi-object push rearrangement. In both simulated and real robot experiments, we demonstrate that our method produces optimal solutions for simple problems and exhibits novel emergent behaviors for complex scenarios. Assignment Space takes advantage of the domain structure by splitting the planning up into three stages, effectively reducing the search space size and enabling the planner to produce optimized plans in seconds. Our algorithm finds solutions of comparable quality to complete configuration space search while reducing the computing time to seconds, which allows our approach to be applied in practical scenarios in real-time. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6386013 | IROS |
Keywords | Field | DocType |
computational complexity,mobile robots,multi-robot systems,path planning,PSPACE-hard problem,assignment space planning,configuration space search,multirobot multiobject push rearrangement,robot multiagent coordination algorithm,search space size reduction | Motion planning,Resource management,Mathematical optimization,Computer science,Algorithm,Robot kinematics,Space planning,Control engineering,Robot,Mobile robot,Configuration space,Computational complexity theory | Conference |
ISSN | Citations | PageRank |
2153-0858 | 0 | 0.34 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Martin Levihn | 1 | 24 | 4.12 |
| Takeo Igarashi | 2 | 193 | 15.18 |
| Mike Stilman | 3 | 507 | 37.01 |