Class 7 (Monday, January 31) : COORDINATION
OF MULTIPLE ROBOTS
- Topics:
- Configuration X time space
- Moving obstacles
- Centralized vs. decoupled planning
- Coordination diagram
- Velocity tuning
- Required Readings:
- Coordination diagram:
P.A. O'Donnell and T. Lozano-Perez.
Deadlock-Free and Collision-Free Coordination of Two Robot Manipulators.
Proceedings of the IEEE International Conference on Robotics and
Automation, pages 484-489, 1989.
- Another decentralized technique:
B. Aronov, M. de Berg, A.F. van der Stappen, P. Svestka, J. Vleugels.
Motion planning for multiple robots. Discrete & Computational
Geometry, 22:505-525, 1999 (pdf
file).
- Other Reading:
- J.C. Latombe. Robot Motion Planning, Kluwer Academic Pub.,
Boston (MA), 1991. Chapter 8.
- Powerpoint slides -- Intro
- Powerpoint slides --
Coordination diagram paper
- Powerpoint slides --
Multiple robots planning paper