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Optimal motion planning for multiple robots having independent goals

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2 Author(s)
LaValle, S.M. ; Dept. of Comput. Sci., Iowa State Univ., Ames, IA, USA ; Hutchinson, S.A.

This work makes two contributions to geometric motion planning for multiple robots: 1) motion plans are computed that simultaneously optimize an independent performance measure for each robot; 2) a general spectrum is defined between decoupled and centralized planning, in which we introduce coordination along independent roadmaps. By considering independent performance measures, we introduce a form of optimality that is consistent with concepts from multiobjective optimization and game theory literature. We present implemented, multiple-robot motion planning algorithms that are derived from the principle of optimality, for three problem classes along the spectrum between centralized and decoupled planning: 1) coordination along fixed, independent paths; 2) coordination along independent roadmaps; and 3) general, unconstrained motion planning. Computed examples are presented for all three problem classes that illustrate the concepts and algorithms

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 6 )