Abstract
This paper presents some preliminary results on the application of a Cooperative Simulated Annealing algorithm (COSA) for solving the problem of path planning in Multi-Robot systems. The main idea is to generate paths for each robot in the system without taking care of the other robots, and then coordinate the paths for all the robots. Paths are generated using a variation of the probabilistic roadmaps (PRM), and the coordination of the paths is achieved with a Cooperative Simulated Annealing (COSA). To evaluate the system, several experiments for environments constituted by two planar robots with up to five dof and various convex obstacles were run. The results obtained aim to continue working on this line.
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Sánchez-Ante, G., Ramos, F., Frausto, J. (2000). Cooperative Simulated Annealing for Path Planning in Multi-robot Systems. In: Cairó, O., Sucar, L.E., Cantu, F.J. (eds) MICAI 2000: Advances in Artificial Intelligence. MICAI 2000. Lecture Notes in Computer Science(), vol 1793. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10720076_14
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DOI: https://doi.org/10.1007/10720076_14
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