Multi-RobotMotionPlanning.pptVIP

Multi-Robot Motion Planning Jur van den Berg Outline Recap: Configuration Space for Single Robot Multiple Robots: Problem Definition Multiple Robots: Composite Configuration Space Centralized Planning Decoupled Planning Optimization Criteria Challenge: Distribute Computation Configuration Space Single Robot Dimension = #DOF Workspace Configuration Space Translating in 2D Minkowski Sums Configuration Space A Single Articulated Robot (2 Rotating DOF) Hard to compute explicitly Workspace Configuration Space Multiple Robots: Problem Definition N robots R1, R2, …, RN in same workspace Start configu