Using rapidly random trees and linear programming for stable operation of a multi-robot system on domes

In this paper, we propose a fast algorithm for a multi-robot system which enables the robots to stably maneuver on domes. The multi-robot system includes robots, a leader robot and one or more follower robots, which are connected to each other by strings and make a ring around the dome. The proposed algorithm employs multi-rapidly random trees (multi-RRTs) and linear programming (LP) to plan a stable path for the whole system which enables the leader robot to cover the whole dome. The main contribution of the paper is in reducing the high dimensionality of the multi-robot configuration space using linear programming. This would allow the multi-RRT grow faster to cover the whole configuration space. To show the effectiveness of the approach we simulated the behavior of a 4-robot system on a spherical dome which denotes the efficiency of our algorithm.