(Georgia Institute of Technology, 2012-10)
Levihn, Martin; Igarashi, Takeo; Stilman, Mike
We present
Assignment Space Planning, a new efficient robot multi-agent coordination algorithm for the PSPACE-
hard problem of multi-robot multi-object push rearrangement.
In both simulated and real robot experiments, we demonstrate
that our method produces optimal solutions for simple problems
and exhibits novel emergent behaviors for complex scenarios.
Assignment Space
takes advantage of the domain structure by
splitting the planning up into three stages, effectively reducing
the search space size and enabling the planner to produce
optimized plans in seconds. Our algorithm finds solutions of
comparable quality to complete configuration space search
while reducing the computing time to seconds, which allows
our approach to be applied in practical scenarios in real-time.
(Georgia Institute of Technology, 2010)
Igarashi, Takeo; Stilman, Mike
We present two path planning algorithms for mobile robots that are connected
by cable to a fixed base. Our algorithms efficiently compute the shortest path
and control strategy that lead the robot to the target location considering cable length
and obstacle interactions. First, we focus on cable-obstacle collisions. We introduce
and formally analyze algorithms that build and search an overlapped configuration
space manifold. Next, we present an extension that considers cable-robot collisions.
All algorithms are experimentally validated using a real robot.