On Pebble Motion on Graphs and Abstract Multi-robot Path Planning

نویسنده

  • Pavel Surynek
چکیده

Multi-robot Path Planning

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs

In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...

متن کامل

Abstract Path Planning for Multiple Robots: A Theoretical Study

An abstraction of the problem of multi-robot path planning is introduced in this paper. The basic task is to determine spatial-temporal plan for each robot of a group of robots where each robot is given its initial position in the environment and it needs to go to the given goal position. Robots must avoid obstacles and must not collide with each other. The abstraction adopted in this work mode...

متن کامل

Fast, Near-Optimal Computation for Multi-Robot Path Planning on Graphs

We report a new method for computing near optimal makespan solutions to multi-robot path planning problem on graphs. Our focus here is with hard instances those with up to 85% of all graph nodes occupied by robots. Our method yields 100-1000x speedup compared with existing methods. At the same time, our solutions have much smaller and often

متن کامل

Structure and Intractability of Optimal Multi-Robot Path Planning on Graphs

In this paper, we study the structure and computational complexity of optimal multi-robot path planning problems on graphs. Our results encompass three formulations of the discrete multi-robot path planning problem, including a variant that allows synchronous rotations of robots along fully occupied, disjoint cycles on the graph. Allowing rotation of robots provides a more natural model for mul...

متن کامل

An Optimization Variant of Multi-Robot Path Planning Is Intractable

An optimization variant of a problem of path planning for multiple robots is addressed in this work. The task is to find spatial-temporal path for each robot of a group of robots such that each robot can reach its destination by navigating through these paths. In the optimization variant of the problem, there is an additional requirement that the makespan of the solution must be as small as pos...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2009