Authors:
Jakub Hvězda
1
;
Miroslav Kulich
2
and
Libor Přeučil
2
Affiliations:
1
Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague and Czech Republic
;
2
Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Prague and Czech Republic
Keyword(s):
Multi-robot Systems, Trajectory Planning, Coordination, Rapidly-Exploring Random Tree.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Autonomous Agents
;
Collective and Social Robots
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Intelligent Transportation Technologies and Systems
;
Mobile Robots and Autonomous Systems
;
Planning and Scheduling
;
Robotics and Automation
;
Simulation and Modeling
;
Symbolic Systems
Abstract:
This paper addresses the problem of coordination of a fleet of mobile robots – the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during last decades, but a minority of them is practically applicable, i.e. fast, producing near-optimal solutions, and complete. We propose a novel probabilistic approach based on the Rapidly Exploring Random Tree algorithm (RRT) by significantly improving its multi-robot variant for discrete environments. The presented experimental results show that the proposed approach is fast enough to solve problems with tens of robots in seconds. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in (ter Mors et al., 2010), it solves problems where ter Mors’s algorithm fails.