Path planning for permutation-invariant multirobot formations
Kloder, S.
Hutchinson, S.
Beckman Inst. for Adv. Sci. & Technol., Illinois Univ., Urbana, IL;
This paper appears in: Robotics, IEEE Transactions on
Publication Date: Aug. 2006
Volume: 22,
Issue: 4
On page(s): 650-665
ISSN: 1552-3098
INSPEC Accession Number: 9031331
Digital Object Identifier: 10.1109/TRO.2006.878952
Current Version Published: 2006-08-07
Abstract
In many multirobot applications, the specific assignment of goal configurations to robots is less important than the overall behavior of the robot formation. In such cases, it is convenient to define a permutation-invariant multirobot formation as a set of robot configurations, without assigning specific configurations to specific robots. For the case of robots that translate in the plane, we can represent such a formation by the coefficients of a complex polynomial whose roots represent the robot configurations. Since these coefficients are invariant with respect to permutation of the roots of the polynomial, they provide an effective representation for permutation-invariant formations. In this paper, we extend this idea to build a full representation of a permutation-invariant formation space. We describe the properties of the representation, and show how it can be used to construct collision-free paths for permutation-invariant formations
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