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2001
Springer

Constraint-Based Optimization of Priority Schemes for Decoupled Path Planning Techniques

10 years 6 months ago
Constraint-Based Optimization of Priority Schemes for Decoupled Path Planning Techniques
Abstract Coordinating the motion of multiple mobile robots is one of the fundamental problems in robotics. The predominant algorithms for coordinating teams of robots are decoupled and prioritized, thereby avoiding combinatorially hard planning problems typically faced by centralized approaches. While these methods are very efficient, they have two major drawbacks. First, they are incomplete, i.e. they sometimes fail to find a solution even if one exists, and second, the resulting solutions are often not optimal. In this paper we present a method for finding and optimizing priority schemes for such prioritized and decoupled planning techniques. Existing approaches apply a single priority scheme which makes them overly prone to failure in cases where valid solutions exist. By searching in the space of priorization schemes, our approach overcomes this limitation. It performs a randomized search with hill-climbing to find solutions and to minimize the overall path length. To focus the...
Maren Bennewitz, Wolfram Burgard, Sebastian Thrun
Added 30 Jul 2010
Updated 30 Jul 2010
Type Conference
Year 2001
Where KI
Authors Maren Bennewitz, Wolfram Burgard, Sebastian Thrun
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