Completeness of Scalable Path Planning for Multiple Robots using a Graph of Shared Cycles

2013 ◽  
Author(s):  
Gwang Tae Kim ◽  
Hyun-Wook Jo ◽  
Chung-Woon Park ◽  
Jong-Tae Lim
Keyword(s):  
Path Planning ◽  
Multiple Robots

A Collision-Free Path Planning Approach for Multiple Robots Under Warehouse Scenarios

2019 ◽  
pp. 55-63
Author(s):  
Xiaoxiao Zhuang ◽  
Guangsheng Feng ◽  
Haibin Lv ◽  
Hongwu Lv ◽  
Huiqiang Wang ◽  
...  
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Multiple Robots ◽  
Planning Approach

Offline decoupled path planning approach for effective coordination of multiple robots

Robotica ◽  
2009 ◽  
Vol 28 (4) ◽  
pp. 477-491 ◽  
Author(s):  
Shital S. Chiddarwar ◽  
N. Ramesh Babu
Keyword(s):  
Path Planning ◽  
Free Path ◽  
Minimum Distance ◽  
Degrees Of Freedom ◽  
Multiple Robots ◽  
A Algorithm ◽  
Two Phase ◽  
Six Degrees Of Freedom ◽  
Planning Approach ◽  
End Effectors

SUMMARYIn this paper, a decoupled offline path planning approach for determining the collision-free path of end effectors of multiple robots involved in coordinated manipulation is proposed. The proposed approach for decoupled path planning is a two-phase approach in which the path for coordinated manipulation is generated with a coupled interaction between collision checking and path planning techniques. Collision checking is done by modelling the links and environment of robot using swept sphere volume technique and utilizing minimum distance heuristic for interference check. While determining the path of the end effector of robots involved in coordinated manipulation, the obstacles present in the workspace are considered as static obstacles and the links of the robots are viewed as dynamic obstacles by the other robot. Coordination is done in offline mode by implementing replanning strategy which adopts incremental A* algorithm for searching the collision-free path. The effectiveness of proposed decoupled approach is demonstrated by considering two examples having multiple six degrees of freedom robots operating in 3D work cell environment with certain static obstacles.

Environment Recognition and Path Planning by Multiple Mobile Robots

1997 ◽  
Vol 9 (5) ◽  
pp. 380-386
Author(s):  
Toshiyuki Kumaki ◽  
◽  
Masahito Nakajima ◽  
Masayoshi Kakikura ◽  
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Simulation Experiment ◽  
Distributed Coordination ◽  
Multiple Robots ◽  
Multiple Mobile Robots ◽  
Unknown Environments ◽  
Environment Recognition ◽  
Coordination Work ◽  
Observation Method

This article, concerned with a part of the research on distributed coordination work by multiple robots, discusses an algorithm for creating maps of unknown environments which are searched for and observed by multiple mobile robots, and on the results of a simulation experiment using this algorithm. This algorithm comprises a moving method, an observation method, and a task planning method which are intended to help the multiple mobile robots carry out an efficient search of unknown environments.

An Advanced Path Planning of Clustered Multiple Robots Based on Flexible Formation

2012 ◽  
Vol 29 (12) ◽  
pp. 1321-1330
Author(s):  
Sung Gil Wee ◽  
Dilshat Saitov ◽  
Kyung Sik Choi ◽  
Suk Gyu Lee
Keyword(s):  
Path Planning ◽  
Multiple Robots

scholarly journals Efficient path planning for multiple transportation robots under various loading conditions

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983511
Author(s):  
Jungyun Bae ◽  
Woojin Chung
Keyword(s):  
Path Planning ◽  
Feasible Solution ◽  
Hamiltonian Path ◽  
Pickup And Delivery ◽  
Loading Conditions ◽  
Multiple Robots ◽  
Robot System ◽  
Travel Costs ◽  
Primal Dual ◽  
The Difference

The article proposes a new path planning method for a multi-robot system for transportation with various loading conditions. For a given system, one needs to distribute given pickup and delivery jobs to the robots and find a path for each robot while minimizing the sum of travel costs. The system has multiple robots with different payloads. Each job has a different required minimum payload, and as a result, job distribution in this situation must take into account the difference in payload capacities of robots. By reflecting job handling restrictions and job accomplishment costs in travel costs, the problem is formulated as a multiple heterogeneous asymmetric Hamiltonian path problem and a primal-dual based heuristic is developed to solve the problem. The heuristic produces a feasible solution in relatively short amount of time and verified by the implementation results.

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