cs 326 a coordination of multiple robots l.
Download
Skip this Video
Loading SlideShow in 5 Seconds..
CS 326 A: Coordination of Multiple Robots PowerPoint Presentation
Download Presentation
CS 326 A: Coordination of Multiple Robots

Loading in 2 Seconds...

play fullscreen
1 / 7

CS 326 A: Coordination of Multiple Robots - PowerPoint PPT Presentation


  • 267 Views
  • Uploaded on

CS 326 A: Coordination of Multiple Robots Two main approaches: Decoupled Planning: Plan for each robot independently of the others and coordinate them later Centralized Planning: Plan the motion of the robots in their “composite” configuration space Planning with Moving Obstacles

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

CS 326 A: Coordination of Multiple Robots


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
cs 326 a coordination of multiple robots
CS 326 A: Coordination of Multiple Robots

Two main approaches:

  • Decoupled Planning:Plan for each robot independently of the others and coordinate them later
  • Centralized Planning:Plan the motion of the robots in their “composite” configuration space
planning with moving obstacles
Planning with Moving Obstacles
  • Moving obstacles require planning a trajectory t : [t1,t2]  Fi.e., a path indexed by time
  • A trajectory is best represented configuration x time space CT. In this space a trajectory is a continuous curve whose tangent always projects positively onto the time axis
  • Obstacles map as forbidden regions into CT. Constraints on velocity constrain tangents to t. Constraints on acceleration constrain curvature of t

(See class #9 on Kinodynamic Planning + Programming project)

coordination of multiple robots
Coordination of Multiple Robots
  • Does not require explicit introduction of time (except if there are moving obstacles)
  • Only requires using the same parameter to index the paths of the coordinated robots
  • Using the same indexing parameter corresponds to fixing the relative velocities of the robots
decoupled planning
Decoupled Planning
  • Pure velocity tuning:(1) Separately plan the path of each robot to avoid collision with (static) obstacles(2) Compute the relative velocities of the robots to avoid inter-robot collision (e.g., coordination diagram)
  • Robot prioritization:- Plan path of a first robot in its configuration space- Iterate:Plan trajectory of ith robot in its configuration x time space assuming that robots 1,…,i-1 are obstacles moving at some velocities
centralized planning
Centralized Planning
  • Plan a collision-free path in the composite configuration C1x C2 x…x Cpspace of the robots
  • Forbidden regions in the composite configuration space are all configurations where either a robot collide with an obstacle or two robots collide with one another
  • The projection of this path into Ci is the path of the ith robot
pros and cons
Pros and Cons
  • Assume p robots with n degrees of freedom each.
  • Worst-case complexity of centralized planning ison the order of enp
  • Worst-case complexity of decoupled planning ison the order of pen << enp
  • But decoupled planning is incomplete