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Humanoid Robotics Laboratory

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    Multi-Robot Multi-Object Rearrangement in Assignment Space
    (Georgia Institute of Technology, 2012-10) Levihn, Martin ; Igarashi, Takeo ; Stilman, Mike ; Georgia Institute of Technology. Center for Robotics and Intelligent Machines ; Georgia Institute of Technology. College of Computing ; University of Tokyo
    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.