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Publication . Part of book or chapter of book . 2019

On Randomized Searching for Multi-robot Coordination

Jakub Hvezda; Miroslav Kulich; Libor Preucil;
Open Access
English
Published: 26 Oct 2019
Publisher: Zenodo
Abstract

In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several decades, and many approaches have been introduced. However, only a small minority is applicable in practice because of their properties - small computational requirement, producing solutions near-optimum, and completeness. The approach we present is based on a multi-robot variant of Rapidly Exploring Random Tree algorithm (RRT) for discrete environments and significantly improves its performance. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in [23], it solves problems where ter Morses algorithm fails.

Subjects by Vocabulary

Microsoft Academic Graph classification: Slightly worse Completeness (order theory) Theoretical computer science Computer science Robot Rapidly exploring random tree Set (abstract data type) Mobile robot

Funded by
EC| SafeLog
Project
SafeLog
Safe human-robot interaction in logistic applications for highly flexible warehouses
  • Funder: European Commission (EC)
  • Project Code: 688117
  • Funding stream: H2020 | RIA
Validated by funder
,
EC| SafeLog
Project
SafeLog
Safe human-robot interaction in logistic applications for highly flexible warehouses
  • Funder: European Commission (EC)
  • Project Code: 688117
  • Funding stream: H2020 | RIA
Validated by funder
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Part of book or chapter of book . 2019
Providers: ZENODO
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