The problem of planning the motion of multiple autonomous robots, is approached by a decoupled analysis in the space and time domains. Proper representations are given for both, with a particular emphasis on the definition of some performance indexes to weight the goodness of a path with respect to motion and time. Sublinear algorithms are used for planning in space. Reasoning in the temporal domain is based on a proper subdivision of the time axis that leads to a polynomial algorithm.
A method for solving multiple autonomous robots collisions problem using space and time representation
FERRARI, CARLO;PAGELLO, ENRICO;
1995
Abstract
The problem of planning the motion of multiple autonomous robots, is approached by a decoupled analysis in the space and time domains. Proper representations are given for both, with a particular emphasis on the definition of some performance indexes to weight the goodness of a path with respect to motion and time. Sublinear algorithms are used for planning in space. Reasoning in the temporal domain is based on a proper subdivision of the time axis that leads to a polynomial algorithm.
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