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A tale of two planners: Modular robotic planning with LDP

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5 Author(s)
De Rosa, M. ; Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Goldstein, S.C. ; Lee, P. ; Pillai, P.
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LDP (Locally Distributed Predicates) is a distributed, high-level language for programming modular reconfigurable robot systems (MRRs). In this paper we present the implementation of two motion-planning algorithms in LDP, and analyze both their performance and ease of implementation. We present multiple variations of one planner, including a novel resource allocation algorithm. We then draw conclusions about both the utility of the motion-planning algorithms and the suitability of LDP to the problem space. Our experiments suggest that metamodule-based planning approaches have a cost in time and/or energy terms, but that the cost can be worth paying in exchange for the additional generality and separation-of-concerns offered by these techniques. The particular tradeoff for a given system will depend upon its goals and the details of the underlying modules.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009