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Constraint-Based Motion Planning for Multiple Agents

Constraint-Based Motion Planning for Multiple Agents. Luv Kohli COMP290-058 November 10, 2003 Progress Update. Constraint-based?. Garber & Lin formulated the motion planning problem as a dynamical system simulation

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Constraint-Based Motion Planning for Multiple Agents

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  1. Constraint-Based Motion Planning for Multiple Agents Luv Kohli COMP290-058 November 10, 2003 Progress Update

  2. Constraint-based? • Garber & Lin formulated the motion planning problem as a dynamical system simulation • Each robot is a rigid body or a collection of rigid bodies influenced by constraint forces in the environment

  3. Constraints • Hard constraints • Absolutely must be satisfied (e.g. non-penetration, articulated robot joint connectivity) • Soft constraints • Encourage objects to follow certain behaviors (e.g. moving towards a goal, obstacle avoidance)

  4. Multiple agents • Want to extend framework to multiple agents • First step: try to get line of sight constraint working

  5. Accomplishments • Broke a finger • Consequently, learned to type without two hands

  6. More accomplishments • Noticed that the angle constraint still needed to be implemented, started implementing that • Tried to apply the angle constraint to the line of sight constraint

  7. Next steps • Get line of sight working with visibility constraints • Add higher level behavior for collaboration

  8. References • Garber, M. and Lin, M. Constraint-Based Motion Planning using Voronoi Diagrams. Proc. Fifth International Workshop on Algorithmic Foundations of Robotics (WAFR), 2002. • Garber, M. and Lin, M. Constraint-Based Motion Planning for Virtual Prototyping. Proc. ACM Symposium on Solid Modeling and Applications, 2002. • Reynolds, C. W.. Flocks, Herds, and Schools: A Distributed Behavioral Model. Computer Graphics, 21(4): 25-34, 1987. • Goldenstein, S., Large, E., and Metaxas, D. Dynamic Autonomous Agents: Game Applications. Computer Animation, 1998.

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