Multi-robot path-planning with subgraphs

Malcolm Ryan*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

12 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 2006 Australasian Conference on Robotics and Automation, ACRA 2006
Place of PublicationAuckland, NZ
PublisherUniversity of Auckland
Pages1-8
Number of pages8
ISBN (Print)9780958758383
Publication statusPublished - 2006
Externally publishedYes
Event2006 Australasian Conference on Robotics and Automation, ACRA 2006 - Auckland, New Zealand
Duration: 6 Dec 20068 Dec 2006

Other

Other2006 Australasian Conference on Robotics and Automation, ACRA 2006
CountryNew Zealand
CityAuckland
Period6/12/068/12/06

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