Sampling-based Multi-robot Motion Planning

Zhi Yan; Nicolas Jouandeau; Arab Ali Cherif

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Paper

Sampling-based Multi-robot Motion Planning

In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: IVC&ITS, 549-554, 2013 , Reykjavík, Iceland

Authors: Zhi Yan ; Nicolas Jouandeau and Arab Ali Cherif

Affiliation: Paris 8 University, France

Keyword(s): Multi-robot systems, Coordination, Motion planning, Sampling-based method.

Abstract: This paper describes a sampling-based approach to multi-robot motion planning. The proposed approach is centralized, which aims to reduce interference between mobile robots such as collision, congestion and deadlock, by increasing the number of waypoints. The implementation based on occupancy grid map is decomposed into three steps: the first step is to identify primary waypoints by using the Voronoi diagram, the second step is to generate additional waypoints by sampling the Voronoi diagram, and the last step is to assign the waypoints to robots by using the Hungarian method. The approach has been implemented and tested in simulation and the experimental results show a good system performance for multi-robot motion planning.

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Paper citation in several formats:

Yan, Z.; Jouandeau, N. and Ali Cherif, A. (2013). Sampling-based Multi-robot Motion Planning. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) - Volume 2: IVC&ITS; ISBN 978-989-8565-70-9; ISSN 2184-2809, SciTePress, pages 549-554. DOI: 10.5220/0004605005490554

@conference{ivc&its13,
author={Zhi Yan. and Nicolas Jouandeau. and Arab {Ali Cherif}.},
title={Sampling-based Multi-robot Motion Planning},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) - Volume 2: IVC&ITS},
year={2013},
pages={549-554},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004605005490554},
isbn={978-989-8565-70-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013) - Volume 2: IVC&ITS
TI - Sampling-based Multi-robot Motion Planning
SN - 978-989-8565-70-9
IS - 2184-2809
AU - Yan, Z.
AU - Jouandeau, N.
AU - Ali Cherif, A.
PY - 2013
SP - 549
EP - 554
DO - 10.5220/0004605005490554
PB - SciTePress