Paper Info
Title
Any-Corn Multi-robot Path-Planning: Maximizing Collaboration for Variable Bandwidth
Abstract
We identify a new class of algorithms for multi-robot problems called "Any-Corn" and present the first algorithm belonging to that class: "Any-Corn intermediate solution sharing" (or Any-Corn ISS) for multi-robot path planning. Any-Corn algorithms find a suboptimal solution quickly and then refine that solution subject to communication constraints. This is analogous to the "Any-Time" framework, in which a suboptimal solution is found quickly, and refined as time permits. The current paper focuses on the task of finding a coordinated set of collision-free paths for all robots in a common area. The computational load of calculating a solution is distributed among all robots, such that the robotic team becomes a distributed computer. Any-Com ISS is probabilistically/resolution complete and a particular robot contributes to the global solution as much as communication reliability permits. Any-Corn ISS is "Centralized" in the planning-algorithmic sense that all robots are viewed as pieces of a composite robot; however, there is no dedicated leader and all robots have the same priority. Previous centralized multi-robot navigation algorithms make assumptions about communication topology and bandwidth that are often invalid in the real world. Any-Corn allows for collaborative problem solving with graceful performance declines as communication deteriorates. Results are validated experimentally with a team of 5 robots.
Year
DOI
Venue
2010
10.1007/978-3-642-32723-0_12
Springer Tracts in Advanced Robotics
Field
DocType
Volume
Motion planning,Computer science,Simulation,Packet loss rate,Robot path planning,Common area,Bandwidth (signal processing),Collaborative Problem Solving,Robot,Distributed computing
Conference
83
ISSN
Citations 
PageRank 
1610-7438
10
0.58
References 
Authors
11
2
Name
Order
Citations
PageRank
Michael W. Otte110515.06
Nikolaus Correll238443.23