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Multirobot plan generation in a continuous domain: planning by use of plan graph and avoiding collisions among robots

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3 Author(s)
Nagata, T. ; Dept. of Electr. Eng., Kyushu Univ., Fukuoka, Japan ; Honda, K. ; Teramoto, Y.

A robot plan-generation system is described that treats continuous state changes over time for multiple robots. A model for a continuous domain is represented, and a parallel plant-generation system, based on production rules for multiple robots in this domain, is proposed. The system consists of a fundamental planning subsystem for multiple robots and a subsystem for detecting and avoiding mutual collisions of cylindrical-type robots, called PLAMAT and SYDAMUC, respectively. In addition to examples for each subsystem, an assembly problem is solved as an example for the total plan-generation system, and the usefulness of the system is confirmed

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Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 1 )