Abstract
In this paper, we consider the problem of tasking large numbers of homogenous robots to move to a set of specified goal locations, addressing both the assignment and trajectory planning subproblems concurrently. This is related to the standard linear Euclidean assignment problem except that the solution to the trajectory generation subproblem must result in time-parameterized trajectories and guarantee collision avoidance.We begin with a centralized approach and derive an optimal centralized solution and study the computational complexity. The main contribution of this paper, however, is a decentralized algorithm with limited communication between neighbors that guarantees collision-avoidance and overcomes the computational challenges of the centralized method at the cost of suboptimal solutions. We demonstrate the performance of the algorithm as the number of robots is increased to tens of robots and the resulting increase in communication across neighbors required for safe execution.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Beard, R., Lawton, J., Hadaegh, F.: A coordination architecture for spacecraft formation control. IEEE Transactions on Control Syst. Technol. 9(6), 777–790 (2001)
Chaimowicz, L., Michael, N., Kumar, V.: Controlling swarms of robots using interpolated implicit functions. In: Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2487–2492. IEEE, Barcelona (2005)
Das, A., Fierro, R., Kumar, V., Ostrowski, J., Spletzer, J., Taylor, C.: A vision-based formation control framework. IEEE Transactions on Robotics and Automation 18(5), 813–825 (2002)
Fox, D., Burgard, W., Kruppa, H., Thrun, S.: A probabilistic approach to collaborative multi-robot localization. Autonomous Robots 8(3), 325–344 (2000)
Gerkey, B., Matarić, M.: A formal analysis and taxonomy of task allocation in multi-robot systems. The International Journal of Robotics Research 23(9), 939–954 (2004)
Ji, M., Azuma, S., Egerstedt, M.: Role-assignment in multi-agent coordination. Int. Journal of Assistive Robotics and Mechatronics 7(1), 32–40 (2006)
Kloder, S., Hutchinson, S.: Path planning for permutation-invariant multirobot formations. IEEE Transactions on Robotics 22(4), 650–665 (2006)
Kuhn, H.: The hungarian method for the assignment problem. Naval Research Logistics Quarterly 2(1-2), 83–97 (1955)
Liu, L., Shell, D.: Multi-level partitioning and distribution of the assignment problem for large-scale multi-robot task allocation. In: Proc. of Robotics: Science and Systems, Los Angeles, CA (2011)
Mataric, M., Nilsson, M., Simsarin, K.: Cooperative multi-robot box-pushing. In: Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Pittsburgh, PA, pp. 556–561 (1995)
Molnár, P., Starke, J.: Control of distributed autonomous robotic systems using principles of pattern formation in nature and pedestrian behavior. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 31(3), 433–435 (2001)
Rendl, F.: On the euclidean assignment problem. Journal of Computational and Applied Mathematics 23(3), 257–265 (1988)
Smith, S., Bullo, F.: Target assignment for robotic networks: Asymptotic performance under limited communication. In: Proc. of the American Control Conference, pp. 1155–1160. IEEE, New York (2007)
Turpin, M., Michael, N., Kumar, V.: Trajectory design and control for aggressive formation flight with quadrotors. In: Proc. of the Intl. Sym. on Robotics Research, Flagstaff, AZ (2011)
Wagner, G., Choset, H.: M*: A complete multirobot path planning algorithm with performance bounds. In: Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Francisco, CA, pp. 3260–3267 (2011)
Zavlanos, M., Pappas, G.: Potential fields for maintaining connectivity of mobile networks. IEEE Transactions on Robotics 23(4), 812–816 (2007)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Turpin, M., Michael, N., Kumar, V. (2013). Trajectory Planning and Assignment in Multirobot Systems. In: Frazzoli, E., Lozano-Perez, T., Roy, N., Rus, D. (eds) Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_11
Download citation
DOI: https://doi.org/10.1007/978-3-642-36279-8_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-36278-1
Online ISBN: 978-3-642-36279-8
eBook Packages: EngineeringEngineering (R0)