Abstract
In this paper we consider the problem of planning paths for an homogeneous group of robots around a shared roadmap. We show that significant speedup can be achieved if we decompose the roadmap into subgraphs of known structure, such as stacks and cliques, and build plans hierarchically, first between connected subgraphs, then inside the subgraphs. We show that this approach while suboptimal is nevertheless complete and can provide a significant improvement in planning time over a nonhierarchical planner.
Original language | English |
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Title of host publication | Proceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006 |
Place of Publication | Auckland, NZ |
Publisher | University of Auckland |
Pages | 1-8 |
Number of pages | 8 |
ISBN (Print) | 9780958758383 |
Publication status | Published - 2006 |
Externally published | Yes |
Event | 2006 Australasian Conference on Robotics and Automation, ACRA 2006 - Auckland, New Zealand Duration: 6 Dec 2006 → 8 Dec 2006 |
Other
Other | 2006 Australasian Conference on Robotics and Automation, ACRA 2006 |
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Country/Territory | New Zealand |
City | Auckland |
Period | 6/12/06 → 8/12/06 |