(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
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.
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.