Presentation title: Tasks and motion planning for multi-robot systems
Summary: This presentation focuses on the issue of multi-robot coordination from the standpoint of planning, which contains task planning and motion planning.
Two new approaches are proposed for the task planning. The first one is a decentralized approach based on trading rules. This approach is designed to simulate the relationship between buyers and sellers in a business system, to achieve dynamic task allocation by using a mechanism of unsolicited bid. The second approach is an heuristic one which is based on an empirical model. It is designed to assign the transportation task to individual robots by estimating the production rate of goods in a centralized system.
Two new approaches are proposed for the motion planning. Both are sampling-based approaches, designed to plan separate kinematic paths for multiple robots to minimize the issue of waiting situation including congestion, collision and deadlock, in an effective way in order to improve the system planning efficiency. All these proposed approaches have been tested and evaluated through simulation experiments.
Slides (in French)