Cart (Loading....) | Create Account
Close category search window

Multi-agent path planning with multiple tasks and distance constraints

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Bhattacharya, S. ; Dept. of Mech. Eng. & Appl. Mech., Univ. of Pennsylvania, Philadelphia, PA, USA ; Likhachev, M. ; Kumar, V.

The DPC algorithm developed in our previous work is an efficient way of computing optimal trajectories for multiple robots in a distributed fashion with time-parameterized constraints on the distances between pairs of robots. In the present work we extend DPC to the problem of multiple task execution. While this extended problem inherits all the objectives, complexities and constraints of the basic DPC algorithm, each robot is also given an unordered set of tasks that it has to execute before it reaches its goal. There is no specific order imposed on the tasks assigned to a particular robot. The algorithm decides the order of execution of the tasks such that an optimal solution is attained while the time-parametrized distance constraints are satisfied along with successful execution of the tasks. We solve this problem by designing a “State-task Graph” that represents a product of the state-space graph and the task graph. We then develop an efficient heuristic function for performing searches in this graph.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.