NDLI: Coordinating the motions of multiple robots with kinodynamic constraints

Content Provider	IEEE Xplore Digital Library
Author	Jufeng Peng Akella, S.
Copyright Year	2003
Description	Author affiliation: Dept. of Math. Sci., Rensselaer Polytech. Inst., Troy, NY, USA (Jufeng Peng)
Abstract	This paper focuses on the coordination of multiple robots with kinodynamic constraints along specified paths. The presented approach generates continuous velocity profiles that avoid collisions and minimize the completion time for the robots. The approach identifies collision segments along each robot's path and then optimizes the motions of the robots along their collision and collision-free segments. For each path segment for each robot, the minimum and maximum possible traversal times that satisfy the dynamics constraints are computed by solving the corresponding two-point boundary value problems. Then the collision avoidance constraints for pairs of robots can be combined to formulate a mixed integer nonlinear programming (MINLP) problem. Since this nonconvex MINLP model is difficult to solve, we describe two related mixed integer linear programming (MILP) formulations that provide schedules that are lower and upper bounds on the optimum; the upper bound schedule is a continuous velocity schedule. The approach is illustrated with robots modeled as double integrators subject to velocity and acceleration constraints. An implementation that coordinates 12 nonholonomic car-like robots is described.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	4066
Ending Page	4073
File Size	539015
Page Count	8
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1242222
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Orbital robotics Job shop scheduling Upper bound Robot programming Acceleration Motion planning Boundary value problems Road accidents Manufacturing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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