Multi-robot routing for servicing spatio-temporal requests: A musically inspired problem

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Music-ADHS12.pdf (542.81 KB)
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Chopra, Smriti
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http://hdl.handle.net/1853/44597
Abstract
In this paper, we consider the problem of routing multiple robots to service spatially distributed requests at specified time instants. As a motivating example, we present the Robot MusicWall, a musically instrumented surface where planar positions correspond to distinct notes of an instrument. Multiple robots with the ability to traverse the wall can effectively “play” a piece of music by reaching positions on the wall that correspond to the musical notes in the piece, at specified time instants.We show that the multi-robot routing problem for servicing such spatio-temporal requests can be formulated as a pure assignment problem with the resulting reduction in complexity. Moreover, we derive the minimum number of robots required to service such requests.
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2012-06
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