Interaction Templates for Multi-Robot Systems
| Autor: | Shawna Thomas, Will Adams, Nancy M. Amato, Tobi Ogunyale, Read Sandstrom, James Motes |
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| Rok vydání: | 2019 |
| Předmět: |
Control and Optimization
Computer science Mechanical Engineering Distributed computing Biomedical Engineering Motion (physics) Computer Science Applications Task (project management) Human-Computer Interaction Set (abstract data type) Robotic systems Template Artificial Intelligence Control and Systems Engineering Robot Computer Vision and Pattern Recognition Motion planning |
| Zdroj: | IEEE Robotics and Automation Letters. 4:2926-2933 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2019.2923386 |
| Popis: | This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and motion planning (TMP) approaches typically requires reasoning about the possible interactions and checking many of the possible robot combinations when searching for a solution. We present a multi-robot planning method called Interaction Templates (ITs), which moves certain types of robot interactions from the task planner to the motion planner. ITs model interactions between a set of robots with a small roadmap. This roadmap is then tiled into the environment and connected to the robots’ individual roadmaps. The resulting combined roadmap allows interactions to be considered by the motion planner. We apply ITs to homogeneous and heterogeneous robot teams under both required and optional cooperation scenarios, which previously required a task planning method. We show improved performance over a current TMP planning approach. |
| Databáze: | OpenAIRE |
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