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An Asynchronous Distributed Constraint Optimization Approach to Multi-Robot Path Planning with Complex Constraints

Viseras, Alberto und Karolj, Valentina und Merino, Luis (2017) An Asynchronous Distributed Constraint Optimization Approach to Multi-Robot Path Planning with Complex Constraints. In: IRMAS. The 32nd ACM Symposium on Applied Computing, Track on Intelligent Robotics and Multi-Agent Systems (IRMAS), 2017-04-03 - 2017-04-07, Marrakesh, Morocco. doi: 10.1145/3019612.3019708. ISBN 978-1-4503-4486-9/17/04.

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Kurzfassung

Multi-robot teams can play a crucial role in many applications such as exploration, or search and rescue operations. One of the most important problems within the multi-robot context is path planning. This has been shown to be particularly challenging, as the team of robots must deal with additional constraints, e.g. inter-robot collision avoidance, while searching in a much larger action space. Previous works have proposed solutions to this problem, but they present two major drawbacks: (i) algorithms suffer from a high computational complexity, or (ii) algorithms require a communication link between any two robots within the system. This paper presents a method to solve this problem, which is both computationally efficient and only requires local communication between neighboring agents. We formulate the multi-robot path planning as a distributed constraint optimization problem. Specifically, in our approach the asynchronous distributed constraint optimization algorithm (Adopt) is combined with sampling-based planners to obtain collision free paths, which allows us to take into account both kinematic and kinodynamic constraints of the individual robots. The paper analyzes the performance and scalability of the approach using simulations, and presents real experiments employing a team of several robots.

elib-URL des Eintrags:https://elib.dlr.de/112458/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:An Asynchronous Distributed Constraint Optimization Approach to Multi-Robot Path Planning with Complex Constraints
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Viseras, Albertoalberto.viserasruiz (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Karolj, Valentinavalentina.karolj (at) dlr.deNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Merino, Luislmercab (at) upo.esNICHT SPEZIFIZIERTNICHT SPEZIFIZIERT
Datum:2017
Erschienen in:IRMAS
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
DOI:10.1145/3019612.3019708
ISBN:978-1-4503-4486-9/17/04
Status:veröffentlicht
Stichwörter:multi-robot path planning, distributed constraint optimization, sampling-based planner
Veranstaltungstitel:The 32nd ACM Symposium on Applied Computing, Track on Intelligent Robotics and Multi-Agent Systems (IRMAS)
Veranstaltungsort:Marrakesh, Morocco
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:3 April 2017
Veranstaltungsende:7 April 2017
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Verkehr
HGF - Programmthema:Verkehrsmanagement (alt)
DLR - Schwerpunkt:Verkehr
DLR - Forschungsgebiet:V VM - Verkehrsmanagement
DLR - Teilgebiet (Projekt, Vorhaben):V - Vabene++ (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Kommunikation und Navigation > Nachrichtensysteme
Hinterlegt von: Viseras Ruiz, Alberto
Hinterlegt am:02 Jun 2017 16:20
Letzte Änderung:24 Apr 2024 20:17

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