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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Knepper, R.A. Rus, D. |
| Copyright Year | 2013 |
| Description | Author affiliation: Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA (Knepper, R.A.; Rus, D.) |
| Abstract | We provide a set of sufficient conditions to establish the completeness of an ensemble of motion planners-that is, a set of loosely-coupled motion planners that produce a unified result. The planners are assumed to divide the total planning problem across some parameter space(s), such as task space, state space, action space, or time. Robotic applications have employed ensembles of planners for decades, although the concept has not been formally unified or analyzed until now. We focus on applications in multi-robot navigation and collision avoidance. We show that individual resolutionor probabilistically-complete planners that meet certain communication criteria constitute a (respectively, resolution- or probabilistically-) complete ensemble of planners. This ensemble of planners, in turn, guarantees that the robots are free of deadlock, livelock, and starvation. |
| Starting Page | 4112 |
| Ending Page | 4119 |
| File Size | 688841 |
| Page Count | 8 |
| File Format | |
| ISBN | 9781467356411 |
| ISSN | 10504729 |
| e-ISBN | 9781467356435 |
| DOI | 10.1109/ICRA.2013.6631157 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-05-06 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robots Planning Trajectory Collision avoidance Probabilistic logic Joints Navigation |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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