scholarly journals Multi-Robot Motion Planning with Dynamics Guided by Multi-Agent Search

2018 ◽  
Author(s):  
Duong Le ◽  
Erion Plaku
Keyword(s):  
Nonlinear Dynamics ◽  
Physical World ◽  
The Other ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Complex Environments ◽  
Continuous State Space ◽  
Continuous State ◽  
Multi Agent ◽  
Multi Robot

This paper presents an effective multi-robot motion planner that enables each robot to reach its desired location while avoiding collisions with the other robots and the obstacles. The approach takes into account the differential constraints imposed by the underlying dynamics of each robot and generates dynamically-feasible motions that can be executed in the physical world. The crux of the approach is the sampling-based expansion of a motion tree in the continuous state space of all the robots guided by multi-agent search over a discrete abstraction. Experiments using vehicle models with nonlinear dynamics operating in complex environments show significant speedups over related work.

scholarly journals Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments

2021 ◽  
Vol 6 (2) ◽  
pp. 2256-2263
Author(s):  
Hai Zhu ◽  
Francisco Martinez Claramunt ◽  
Bruno Brito ◽  
Javier Alonso-Mora
Keyword(s):  
Motion Planning ◽  
Dynamic Environments ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Multi Robot

scholarly journals Effective metrics for multi-robot motion-planning

2018 ◽  
Vol 37 (13-14) ◽  
pp. 1741-1759 ◽  
Author(s):  
Aviel Atias ◽  
Kiril Solovey ◽  
Oren Salzman ◽  
Dan Halperin
Keyword(s):  
Motion Planning ◽  
Success Rate ◽  
Shape Matching ◽  
Equivalence Classes ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
The Novel ◽  
Multi Robot

We study the effectiveness of metrics for multi-robot motion-planning (MRMP) when using rapidly-exploring random tree (RRT)-style sampling-based planners. These metrics play the crucial role of determining the nearest neighbors of configurations and in that they regulate the connectivity of the underlying roadmaps produced by the planners and other properties such as the quality of solution paths. After screening over a dozen different metrics we focus on the five most promising ones: two more traditional metrics, and three novel ones, which we propose here, adapted from the domain of shape-matching. In addition to the novel multi-robot metrics, a central contribution of this work are tools to analyze and predict the effectiveness of metrics in the MRMP context. We identify a suite of possible substructures in the configuration space, for which it is fairly easy: (i) to define a so-called natural distance that allows us to predict the performance of a metric, which is done by comparing the distribution of its values for sampled pairs of configurations to the distribution induced by the natural distance; and (ii) to define equivalence classes of configurations and test how well a metric covers the different classes. We provide experiments that attest to the ability of our tools to predict the effectiveness of metrics: those metrics that qualify in the analysis yield higher success rate of the planner with fewer vertices in the roadmap. We also show how combining several metrics together may lead to better results (success rate and size of roadmap) than using a single metric.

Asymptotic properties of super-critical branching processes II: Crump-Mode and Jirina processes

1975 ◽  
Vol 7 (01) ◽  
pp. 66-82 ◽  
Author(s):  
N. H. Bingham ◽  
R. A. Doney
Keyword(s):  
State Space ◽  
Continuous Time ◽  
Regular Variation ◽  
Branching Processes ◽  
Asymptotic Properties ◽  
Random Variables ◽  
The Other ◽  
Continuous State Space ◽  
Continuous State ◽  
Integer Exponent

We obtain results connecting the distribution of the random variablesYandWin the supercritical generalized branching processes introduced by Crump and Mode. For example, if β > 1,EYβandEWβconverge or diverge together and regular variation of the tail of one ofY, Wwith non-integer exponent β > 1 is equivalent to regular variation of the other. We also prove analogous results for the continuous-time continuous state-space branching processes introduced by Jirina.

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