A hybrid framework for multi-robot kinodynamic planning
Qin, Yudi Mike
Loading…
Permalink
https://hdl.handle.net/2142/127209
Description
Title
A hybrid framework for multi-robot kinodynamic planning
Author(s)
Qin, Yudi Mike
Issue Date
2024-12-10
Director of Research (if dissertation) or Advisor (if thesis)
Amato, Nancy Marie
Department of Study
Siebel School Comp & Data Sci
Discipline
Computer Science
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Robotics
Multi-robot Systems
Motion Planning
Language
eng
Abstract
This work presents Kinodynamic Adaptive Robot Coordination (K-ARC), a novel algorithm for multi-robot kinodynamic planning. Our experimental results show the capability of K-ARC to plan for up to 32 planar mobile robots, while achieving up to an order of magnitude of speed-up compared to previous methods in various scenarios. K-ARC is able to achieve this due to its two main properties. First, K-ARC constructs its solution iteratively by planning in segments, where initial kinodynamic paths are found through optimization-based approaches and the inter-robot conflicts are resolved through sampling-based approaches. The interleaving use of sampling-based and optimization-based approaches allows K-ARC to leverage the strengths of both approaches in different sections of the planning process where one is more suited than the other, while previous methods tend to emphasize on one over the other. Second, K-ARC builds on a previously proposed multi-robot motion planning framework, Adaptive Robot Coordination (ARC), and inherits its strength of focusing on coordination between robots only when needed, saving computation efforts. We show how the combination of these two properties allows K-ARC to achieve overall better performance in our simulated experiments with increasing numbers of robots, increasing degrees of problem difficulties, and increasing complexities of robot dynamics.
Use this login method if you
don't
have an
@illinois.edu
email address.
(Oops, I do have one)
IDEALS migrated to a new platform on June 23, 2022. If you created
your account prior to this date, you will have to reset your password
using the forgot-password link below.
