A time competitive heterogeneous multi robot path finding algorithm

Shahar Sarid, Amir Shapiro

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

We investigate the path finding problem to a target whose position is known in an unknown and unbounded environment. We present a novel motion planning algorithm which uses a group of heterogeneous robots to search for the path to the target. The algorithm assigns the robots in pairs, each two robots within a pair have the same velocity, and are cooperating to search for the path to the target. The algorithm artificially bounds each pair's search to an ellipse whose focal points are the start and the target points. Each robot pair has a ditTerent velocity, thus each pair is assigned to an ellipse with an area corresponding to the search time according to its velocity. The algorithm's performance is analyzed using time competitiveness definitions, and its upper bound is proved to be quadratic in the optimal otT-line solution. The algorithm is complete and robust.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4590-4595
Number of pages6
DOIs
StatePublished - 1 Dec 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 18 Oct 201022 Oct 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/TerritoryTaiwan, Province of China
CityTaipei
Period18/10/1022/10/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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