Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning

Detalhes bibliográficos
Autor(a) principal: Sucapuca-Diaz, Angel J.
Data de Publicação: 2019
Outros Autores: Cornejo-Lupa, Maria A., Tejada-Begazo, Maria [UNESP], Barrios-Aranibar, Dennis, Colombini, E. L., Junior, PLJD, Garcia, LTD, Goncalves, LMG, Sa, STD, Estrada, EDD, Botelho, SSD
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://dx.doi.org/10.1109/LARS-SBR-WRE48964.2019.00065
http://hdl.handle.net/11449/195534
Resumo: Autonomous robots are intended to help humans performing a lot of different tasks in a safer and more efficient way. Some of those tasks must be solved by a group of autonomous robots. Also, when the task can be solved only by one robot, for cost constraints, it is cheaper (for development and maintenance) to implement solutions including a group of simple robots. Solutions including multiple robots have to solve group problems like communication and coordination; also, common problems of autonomous robots like the widely studied problem of Path Planning must be rethought. In this case, finding a collision-free path is not enough because each robot also has to avoid collisions with other robots (by coordinating their movements). In this scenario, the path planning problem turns into the multi-robot motion planning (MRMP) problem. There are two approaches for solving the MRMP problem: coupled and decoupled. This work is focused on the decoupled approach because it has the potential to solve MRMP not only in a centralized way but, also in a concurrent or distributed way. In this sense, a new parallelizable algorithm, called Local Coordination Diagrams - LCD, is presented in this paper. Experimental results show that our approach can be applied efficiently to a large number of robots.
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spelling Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path PlanningAutonomous robots are intended to help humans performing a lot of different tasks in a safer and more efficient way. Some of those tasks must be solved by a group of autonomous robots. Also, when the task can be solved only by one robot, for cost constraints, it is cheaper (for development and maintenance) to implement solutions including a group of simple robots. Solutions including multiple robots have to solve group problems like communication and coordination; also, common problems of autonomous robots like the widely studied problem of Path Planning must be rethought. In this case, finding a collision-free path is not enough because each robot also has to avoid collisions with other robots (by coordinating their movements). In this scenario, the path planning problem turns into the multi-robot motion planning (MRMP) problem. There are two approaches for solving the MRMP problem: coupled and decoupled. This work is focused on the decoupled approach because it has the potential to solve MRMP not only in a centralized way but, also in a concurrent or distributed way. In this sense, a new parallelizable algorithm, called Local Coordination Diagrams - LCD, is presented in this paper. Experimental results show that our approach can be applied efficiently to a large number of robots.Univ Catolica San Pablo, Elect & Elect Engn Dept, Arequipa, PeruSao Paulo State Univ, Inst Sci & Technol ICTS, Sorocaba, SP, BrazilFed Univ Rio Grande do Norte UFRN, Postgrad Program Mechatron Engn, Natal, RN, BrazilSao Paulo State Univ, Inst Sci & Technol ICTS, Sorocaba, SP, BrazilIeeeUniv Catolica San PabloUniversidade Estadual Paulista (Unesp)Fed Univ Rio Grande do Norte UFRNSucapuca-Diaz, Angel J.Cornejo-Lupa, Maria A.Tejada-Begazo, Maria [UNESP]Barrios-Aranibar, DennisColombini, E. L.Junior, PLJDGarcia, LTDGoncalves, LMGSa, STDEstrada, EDDBotelho, SSD2020-12-10T17:37:48Z2020-12-10T17:37:48Z2019-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject335-340http://dx.doi.org/10.1109/LARS-SBR-WRE48964.2019.000652019 Latin American Robotics Symposium, 2019 Brazilian Symposium On Robotics (sbr) And 2019 Workshop On Robotics In Education (lars-sbr-wre 2019). New York: Ieee, p. 335-340, 2019.http://hdl.handle.net/11449/19553410.1109/LARS-SBR-WRE48964.2019.00065WOS:000550782100057Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPeng2019 Latin American Robotics Symposium, 2019 Brazilian Symposium On Robotics (sbr) And 2019 Workshop On Robotics In Education (lars-sbr-wre 2019)info:eu-repo/semantics/openAccess2021-10-23T09:26:35Zoai:repositorio.unesp.br:11449/195534Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T21:05:11.785695Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning
title Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning
spellingShingle Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning
Sucapuca-Diaz, Angel J.
title_short Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning
title_full Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning
title_fullStr Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning
title_full_unstemmed Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning
title_sort Local Coordination Diagrams for Collision Avoidance in Multi-Robot Path Planning
author Sucapuca-Diaz, Angel J.
author_facet Sucapuca-Diaz, Angel J.
Cornejo-Lupa, Maria A.
Tejada-Begazo, Maria [UNESP]
Barrios-Aranibar, Dennis
Colombini, E. L.
Junior, PLJD
Garcia, LTD
Goncalves, LMG
Sa, STD
Estrada, EDD
Botelho, SSD
author_role author
author2 Cornejo-Lupa, Maria A.
Tejada-Begazo, Maria [UNESP]
Barrios-Aranibar, Dennis
Colombini, E. L.
Junior, PLJD
Garcia, LTD
Goncalves, LMG
Sa, STD
Estrada, EDD
Botelho, SSD
author2_role author
author
author
author
author
author
author
author
author
author
dc.contributor.none.fl_str_mv Univ Catolica San Pablo
Universidade Estadual Paulista (Unesp)
Fed Univ Rio Grande do Norte UFRN
dc.contributor.author.fl_str_mv Sucapuca-Diaz, Angel J.
Cornejo-Lupa, Maria A.
Tejada-Begazo, Maria [UNESP]
Barrios-Aranibar, Dennis
Colombini, E. L.
Junior, PLJD
Garcia, LTD
Goncalves, LMG
Sa, STD
Estrada, EDD
Botelho, SSD
description Autonomous robots are intended to help humans performing a lot of different tasks in a safer and more efficient way. Some of those tasks must be solved by a group of autonomous robots. Also, when the task can be solved only by one robot, for cost constraints, it is cheaper (for development and maintenance) to implement solutions including a group of simple robots. Solutions including multiple robots have to solve group problems like communication and coordination; also, common problems of autonomous robots like the widely studied problem of Path Planning must be rethought. In this case, finding a collision-free path is not enough because each robot also has to avoid collisions with other robots (by coordinating their movements). In this scenario, the path planning problem turns into the multi-robot motion planning (MRMP) problem. There are two approaches for solving the MRMP problem: coupled and decoupled. This work is focused on the decoupled approach because it has the potential to solve MRMP not only in a centralized way but, also in a concurrent or distributed way. In this sense, a new parallelizable algorithm, called Local Coordination Diagrams - LCD, is presented in this paper. Experimental results show that our approach can be applied efficiently to a large number of robots.
publishDate 2019
dc.date.none.fl_str_mv 2019-01-01
2020-12-10T17:37:48Z
2020-12-10T17:37:48Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/conferenceObject
format conferenceObject
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://dx.doi.org/10.1109/LARS-SBR-WRE48964.2019.00065
2019 Latin American Robotics Symposium, 2019 Brazilian Symposium On Robotics (sbr) And 2019 Workshop On Robotics In Education (lars-sbr-wre 2019). New York: Ieee, p. 335-340, 2019.
http://hdl.handle.net/11449/195534
10.1109/LARS-SBR-WRE48964.2019.00065
WOS:000550782100057
url http://dx.doi.org/10.1109/LARS-SBR-WRE48964.2019.00065
http://hdl.handle.net/11449/195534
identifier_str_mv 2019 Latin American Robotics Symposium, 2019 Brazilian Symposium On Robotics (sbr) And 2019 Workshop On Robotics In Education (lars-sbr-wre 2019). New York: Ieee, p. 335-340, 2019.
10.1109/LARS-SBR-WRE48964.2019.00065
WOS:000550782100057
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 2019 Latin American Robotics Symposium, 2019 Brazilian Symposium On Robotics (sbr) And 2019 Workshop On Robotics In Education (lars-sbr-wre 2019)
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 335-340
dc.publisher.none.fl_str_mv Ieee
publisher.none.fl_str_mv Ieee
dc.source.none.fl_str_mv Web of Science
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
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repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
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