skip to main content

Title: DDM: Fast Near-Optimal Multi-Robot Path Planning Using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics
Award ID(s):
1734419 1845888
Author(s) / Creator(s):
Date Published:
Journal Name:
IEEE Robotics and Automation Letters
Page Range / eLocation ID:
1350 to 1357
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. Fast algorithms for optimal multi-robot path planning are sought after in real-world applications. Known methods, however, generally do not simultaneously guar- antee good solution optimality and good (e.g., polynomial) running time. In this work, we develop a first low-polynomial running time algorithm, called SplitAndGroup (SaG), that solves the multi-robot path planning problem on grids and grid-like environments, and produces constant factor makespan optimal solutions on average over all problem in- stances. That is, SaG is an average case O(1)-approximation algorithm and computes solutions with sub-linear makespan. SaG is capable of handling cases when the density of robots is extremely high - in a graph-theoretic setting, the al- gorithm supports cases where all vertices of the underly- ing graph are occupied. SaG attains its desirable proper- ties through a careful combination of a novel divide-and- conquer technique, which we denote as global decoupling, and network flow based methods for routing the robots. Solutions from SaG, in a weaker sense, are also a constant factor approximation on total distance optimality. 
    more » « less
  2. We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm between the two points. We consider both cases where obstacles are present and where they are not. We demonstrate how to leverage the continuum arm features to introduce a new model that enables a path planning approach based on the configurations graph, for a continuum arm consisting of three sections, each consisting of three muscle actuators. The algorithm we apply to the configurations graph allows us to exploit parallelism in the computation to obtain efficient implementation. We conducted extensive tests, and the obtained results show the completeness of the proposed algorithm under the considered discretizations, in both cases where obstacles are present and where they are not. We compared our approach to the standard inverse kinematics approach. While the inverse kinematics approach is much faster when successful, our algorithm always succeeds in finding a path or reporting that no path exists, compared to a roughly 70% success rate of the inverse kinematics approach (when a path exists). 
    more » « less