Abstract
This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and motion planning (TMP) approaches typically requires reasoning about the possible interactions and checking many of the possible robot combinations when searching for a solution. We present a multi-robot planning method called Interaction Templates (ITs), which moves certain types of robot interactions from the task planner to the motion planner. ITs model interactions between a set of robots with a small roadmap. This roadmap is then tiled into the environment and connected to the robots' individual roadmaps. The resulting combined roadmap allows interactions to be considered by the motion planner. We apply ITs to homogeneous and heterogeneous robot teams under both required and optional cooperation scenarios, which previously required a task planning method. We show improved performance over a current TMP planning approach.
| Original language | English (US) |
|---|---|
| Article number | 8737744 |
| Pages (from-to) | 2926-2933 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 4 |
| Issue number | 3 |
| DOIs | |
| State | Published - Jul 2019 |
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Keywords
- Multi-robot systems
- cooperating robots
- motion and path planning
ASJC Scopus subject areas
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence
Cite this
Interaction Templates for Multi-Robot Systems. / Motes, James; Sandstrom, Read; Adams, Will; Ogunyale, Tobi; Thomas, Shawna; Amato, Nancy Marie.
In: IEEE Robotics and Automation Letters, Vol. 4, No. 3, 8737744, 07.2019, p. 2926-2933.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Interaction Templates for Multi-Robot Systems
AU - Motes, James
AU - Sandstrom, Read
AU - Adams, Will
AU - Ogunyale, Tobi
AU - Thomas, Shawna
AU - Amato, Nancy Marie
PY - 2019/7
Y1 - 2019/7
N2 - This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and motion planning (TMP) approaches typically requires reasoning about the possible interactions and checking many of the possible robot combinations when searching for a solution. We present a multi-robot planning method called Interaction Templates (ITs), which moves certain types of robot interactions from the task planner to the motion planner. ITs model interactions between a set of robots with a small roadmap. This roadmap is then tiled into the environment and connected to the robots' individual roadmaps. The resulting combined roadmap allows interactions to be considered by the motion planner. We apply ITs to homogeneous and heterogeneous robot teams under both required and optional cooperation scenarios, which previously required a task planning method. We show improved performance over a current TMP planning approach.
AB - This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and motion planning (TMP) approaches typically requires reasoning about the possible interactions and checking many of the possible robot combinations when searching for a solution. We present a multi-robot planning method called Interaction Templates (ITs), which moves certain types of robot interactions from the task planner to the motion planner. ITs model interactions between a set of robots with a small roadmap. This roadmap is then tiled into the environment and connected to the robots' individual roadmaps. The resulting combined roadmap allows interactions to be considered by the motion planner. We apply ITs to homogeneous and heterogeneous robot teams under both required and optional cooperation scenarios, which previously required a task planning method. We show improved performance over a current TMP planning approach.
KW - Multi-robot systems
KW - cooperating robots
KW - motion and path planning
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U2 - 10.1109/LRA.2019.2923386
DO - 10.1109/LRA.2019.2923386
M3 - Article
AN - SCOPUS:85068453400
VL - 4
SP - 2926
EP - 2933
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 3
M1 - 8737744
ER -