TY - GEN

T1 - A time competitive heterogeneous multi robot path finding algorithm

AU - Sarid, Shahar

AU - Shapiro, Amir

PY - 2010/12/1

Y1 - 2010/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=78651476371&partnerID=8YFLogxK

U2 - 10.1109/IROS.2010.5649117

DO - 10.1109/IROS.2010.5649117

M3 - Conference contribution

AN - SCOPUS:78651476371

SN - 9781424466757

T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

SP - 4590

EP - 4595

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

T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010

Y2 - 18 October 2010 through 22 October 2010

ER -