Abstract
Multirobot path planning is difficult because the full configuration space of the system grows exponentially with the number of robots. Planning in the joint configuration space of a set of robots is only necessary if they are strongly coupled, which is often not true if the robots are well separated in the workspace. Therefore, we initially plan for each robot separately, and only couple sets of robots after they have been found to interact, thus minimizing the dimensionality of the search space. We present a general strategy called subdimensional expansion, which dynamically generates low dimensional search spaces embedded in the full configuration space. We also present an implementation of subdimensional expansion for robot configuration spaces that can be represented as a graph, called M*, and show that M* is complete and finds minimal cost paths.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ayanian, N., Kumar, V.: Decentralized feedback controllers for multi-agent teams in environments with obstacles. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 1936–1941 (May 2008)
Carpin, S., Pagello, E.: On parallel RRTs for multi-robot systems. In: Proceedings of 8th Conference Italian Association for Artificial Intelligence, pp. 834–841. Citeseer (2002)
Choset, H.M.: Principles of robot motion: theory, algorithms, and implementation. The MIT Press (2005)
Clark, C.M., Rock, S.M., Latombe, J.C.: Motion planning for multiple robot systems using dynamic networks. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 4222–4227 (2003)
Erdmann, M., Lozano-Perez, T.: On multiple moving objects. Algorithmica 2(1), 477–521 (1987)
Ghrist, R.W., Koditschek, D.E.: Safe cooperative robot dynamics on graphs. SIAM Journal on Control and Optimization 40(5) (2002)
Hart, P.E., Nilsson, N.J., Raphael, B.: A formal basis for the heuristic determination of minimum cost paths. IEEE Transactions on Systems Science and Cybernetics 4(2) (July 1968)
Kant, K., Zucker, S.W.: Toward efficient trajectory planning: The path-velocity decomposition. The International Journal of Robotics Research 5(3), 72 (1986)
Kok, J.R., Hoen, P.J., Bakker, B., Vlassis, N.: Utile coordination: Learning interdependencies among cooperative agents. In: Proceedings of the IEEE Symposium on Computational Intelligence and Games (2005)
Krishna, K.M., Hexmoor, H., Chellappa, S.: Reactive navigation of multiple moving agents by collaborative resolution of conflicts. Journal of Robotic Systems, 249–269 (2005)
LaValle, S.M.: Planning algorithms. Cambridge Univ. Pr. (2006)
Leroy, S., Laumond, J.-P., Siméon, T.: Multiple path coordination for mobile robots: A geometric algorithm. In: Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence, pp. 1118–1123. Morgan Kaufmann Publishers Inc., San Francisco (1999)
Malcom, R.: Multi-robot path-planning with subgraphs. In: Australasian Conference on Robotics and Automation (2006)
Melo, F.S., Veloso, M.: Learning of coordination: Exploiting sparse interactions in multiagent systems. In: Proc. of 8th Int. Conf. on Autonomous Agents and Multiagent Systems (May 2009)
Saha, M., Isto, P.: Multi-robot motion planning by incremental coordination. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5960–5963 (October 2006)
Jur van den Berg, J., Snoeyink, M., Lin, D.: Manocha. Centralized path planning for multiple robots: Optimal decoupling into sequential plans. In: Proceedings of Robotics: Science and Systems (2009)
Wagner, G., Choset, H.: M*: A complete multirobot path planning algorithm with performance bounds. In: Proceedings of IEEE International Conference on Intelligent Robots and Systems 2011 (September 2011)
Wagner, G., Kang, M., Choset, H.: Probabilistic path planning for multiple robots with subdimensional expansion. In: Proceedings of IEEE/RSJ International Conference on Robotics and Automation (May 2012)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Wagner, G., Choset, H. (2013). M*: A Complete Multirobot Path Planning Algorithm with Optimality Bounds. In: Milutinović, D., Rosen, J. (eds) Redundancy in Robot Manipulators and Multi-Robot Systems. Lecture Notes in Electrical Engineering, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33971-4_10
Download citation
DOI: https://doi.org/10.1007/978-3-642-33971-4_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33970-7
Online ISBN: 978-3-642-33971-4
eBook Packages: EngineeringEngineering (R0)