NDLI: Motion Planning for Multiple Robots

Content Provider	Springer Nature Link
Author	Arov, B.
Abstract	We study the motion-planning problem for pairs and triples of robots operating in a shared workspace containing n obstacles. A standard way to solve such problems is to view the collection of robots as one composite robot, whose number of degrees of freedom is d , the sum of the numbers of degrees of freedom of the individual robots. We show that it is sufficient to consider a constant number of robot systems whose number of degrees of freedom is at most d-1 for pairs of robots, and d-2 for triples. (The result for a pair assumes that the sum of the number of degrees of freedom of the robots constituting the pair reduces by at least one if the robots are required to stay in contact; for triples a similar assumption is made. Moreover, for triples we need to assume that a solution with positive clearance exists.) We use this to obtain an O(n d ) time algorithm to solve the motion-planning problem for a pair of robots; this is one order of magnitude faster than what the standard method would give. For a triple of robots the running time becomes O(n d-1 ) , which is two orders of magnitude faster than the standard method. We also apply our method to the case of a collection of bounded-reach robots moving in a low-density environment. Here the running time of our algorithm becomes O(n log n) both for pairs and triples.
Starting Page	505
Ending Page	525
Page Count	21
File Format	PDF
ISSN	01795376
Journal	Discrete & Computational Geometry
Volume Number	22
Issue Number	4
e-ISSN	14320444
Language	English
Publisher	Springer-Verlag
Publisher Date	1999-12-01
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Content Type	Text
Resource Type	Article
Subject	Discrete Mathematics and Combinatorics Theoretical Computer Science Computational Theory and Mathematics Geometry and Topology

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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