Multi-Robot Multi-Object Rearrangement in Assignment Space

Levihn, Martin; Igarashi, Takeo; Stilman, Mike

Title:

Multi-Robot Multi-Object Rearrangement in Assignment Space

dc.contributor.author	Levihn, Martin
dc.contributor.author	Igarashi, Takeo
dc.contributor.author	Stilman, Mike
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines	en_US
dc.contributor.corporatename	Georgia Institute of Technology. College of Computing	en_US
dc.contributor.corporatename	University of Tokyo
dc.date.accessioned	2013-03-07T22:29:23Z
dc.date.available	2013-03-07T22:29:23Z
dc.date.issued	2012-10
dc.description	©2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.description	Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 7-12 October 2012, Vilamoura, Algarve, Portugal.
dc.description	DOI: 10.1109/IROS.2012.6386013
dc.description.abstract	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.	en_US
dc.embargo.terms	null	en_US
dc.identifier.citation	Levihn, M.; Igarashi, T.; & Stilman, M. (2012). "Multi-Robot Multi-Object Rearrangement in Assignment Space". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 7-12 October 2012, pp. 5255-5261.	en_US
dc.identifier.doi	10.1109/IROS.2012.6386013
dc.identifier.isbn	978-1-4673-1737-5 (Print)
dc.identifier.issn	2153-0858
dc.identifier.uri	http://hdl.handle.net/1853/46407
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers
dc.subject	Assignment space planning	en_US
dc.subject	Credit method	en_US
dc.subject	Multi-agent coordination algorithm	en_US
dc.subject	Multi-robot multi-object rearrangement	en_US
dc.subject	Project scheduling problem	en_US
dc.title	Multi-Robot Multi-Object Rearrangement in Assignment Space	en_US
dc.type	Text
dc.type.genre	Post-print
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.corporatename	Humanoid Robotics Laboratory
relation.isOrgUnitOfPublication	05bf85fb-965e-425d-af8b-dbf56e0d9797