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ICRA
2009
IEEE

Multi-robot coordination using generalized social potential fields

8 years 11 months ago
Multi-robot coordination using generalized social potential fields
Abstract— We present a novel approach to compute collisionfree paths for multiple robots subject to local coordination constraints. More specifically, given a set of robots, their initial and final configurations, and possibly some additional coordination constraints, our goal is to compute a collision-free path between the initial and final configuration that maintains the constraints. To solve this problem, our approach generalizes the social potential field method to be applicable to both convex and nonconvex polyhedra. Social potential fields are then integrated into a “physics-based motion planning” framework which uses constrained dynamics to solve the motion planning problem. Our approach is able to plan for over 200 robots while averaging about 110 ms per step in a variety of environments.
Russell Gayle, William Moss, Ming C. Lin, Dinesh M
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Russell Gayle, William Moss, Ming C. Lin, Dinesh Manocha
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