Multi-robot Planning Using Robot-Dependent Reachability Maps

• Type: Article in International Conference Proceedings Book
• Date: 2016

Authors

Pereira, T (Author) Other; Veloso, M (Author) Other; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: ROBOT 2015: SECOND IBERIAN ROBOTICS CONFERENCE: ADVANCES IN ROBOTICS, VOL 1

Pages: 189-201

2nd Iberian Robotics Conference (ROBOT)

Lisbon, PORTUGAL, NOV 19-21, 2015

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 5 Citations

Other information

Authenticus ID: P-00K-2GD

DOI: 10.1007/978-3-319-27146-0_15

Abstract (EN): In this paper we present a new concept of robot-dependent reachability map (RDReachMap) for mobile platforms. In heterogeneous multi-robot systems, the reachability limit of robots motion and actuation must be considered when assigning tasks to them. We created an algorithm that generates those reachability maps, separating regions that can be covered by a robot from the unreachable ones, using morphological operations. Our method is dependent on the robot position, and is parameterized with the robot's size and actuation radius. For this purpose we introduce a new technique, the partial morphological closing operation. The algorithm was tested both in simulated and real environment maps. We also present a common problem of multi robot routing, which we solve with a planner that uses our reachability maps in order to generate valid plans. We contribute a heuristic that generates paths for two robots using the reachability concept.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 13