Prioritized Multi-agent Path Finding for Differential Drive Robots
Publication type: Proceedings Article
Publication date: 2019-09-01
SJR: —
CiteScore: —
Impact factor: —
ISSN:
Abstract
Methods for centralized planning of the collision-free trajectories for a fleet of mobile robots typically solve the discretized version of the problem and rely on numerous simplifying assumptions, e.g. moves of uniform duration, cardinal only translations, equal speed and size of the robots etc., thus the resultant plans can not always be directly executed by the real robotic systems. To mitigate this issue we suggest a set of modifications to the prominent prioritized planner - AA-SIPP(m) - aimed at lifting the most restrictive assumptions (syncronized translation only moves, equal size and speed of the robots) and at providing robustness to the solutions. We evaluate the suggested algorithm in simulation and on differential drive robots in typical lab environment (indoor polygon with external video-based navigation system). The results of the evaluation provide a clear evidence that the algorithm scales well to large number of robots (up to hundreds in simulation) and is able to produce solutions that are safely executed by the robots prone to imperfect trajectory following. The video of the experiments can be found at https://youtu.be/Fer_irn4BG0.
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Metrics
15
Total citations:
15
Citations from 2024:
7
(46%)
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Yakovlev K., Andreychuk A., Vorobyev V. Prioritized Multi-agent Path Finding for Differential Drive Robots // 2019 European Conference on Mobile Robots (ECMR). 2019.
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Yakovlev K., Andreychuk A., Vorobyev V. Prioritized Multi-agent Path Finding for Differential Drive Robots // 2019 European Conference on Mobile Robots (ECMR). 2019.
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TY - CPAPER
DO - 10.1109/ECMR.2019.8870957
UR - https://doi.org/10.1109/ECMR.2019.8870957
TI - Prioritized Multi-agent Path Finding for Differential Drive Robots
T2 - 2019 European Conference on Mobile Robots (ECMR)
AU - Yakovlev, Konstantin
AU - Andreychuk, Anton
AU - Vorobyev, V
PY - 2019
DA - 2019/09/01
PB - Institute of Electrical and Electronics Engineers (IEEE)
ER -
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@inproceedings{2019_Yakovlev,
author = {Konstantin Yakovlev and Anton Andreychuk and V Vorobyev},
title = {Prioritized Multi-agent Path Finding for Differential Drive Robots},
year = {2019},
month = {sep},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)}
}
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