Any-com collision checking: Sharing certificates in decentralized multi-robot teams

We present an any-com algorithm that enables a decentralized team of robots to share the work of collision checking while each robot independently calculates its own motion plan. In our method "safety-certificates" (i.e., bounds on the collision-free subspace around each collision-checked...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation pp. 563 - 570
Main Authors Otte, Michael, Bialkowski, Joshua, Frazzoli, Emilio
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2014
Subjects
Algorithm design and analysis
Collision avoidance
Complexity theory
Planning
Robot sensing systems
Safety
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ISSN1050-4729
DOI10.1109/ICRA.2014.6906911

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Summary:We present an any-com algorithm that enables a decentralized team of robots to share the work of collision checking while each robot independently calculates its own motion plan. In our method "safety-certificates" (i.e., bounds on the collision-free subspace around each collision-checked point [1]), are shared among the team so that all robots can benefit from their encoded knowledge. Future points drawn from within a certificate are guaranteed to be safe; therefore, sharing certificates among team members reduces collision checking for all robots. Experiments demonstrate that our algorithm scales well vs. both team size and vs. communication quality.
ISSN:1050-4729
DOI:10.1109/ICRA.2014.6906911