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    Multi-Robot Multi-Object Rearrangement in Assignment Space

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    LevihnIROS12-IROS12-multi-robot.pdf (1.293Mb)
    Date
    2012-10
    Author
    Levihn, Martin
    Igarashi, Takeo
    Stilman, Mike
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    Abstract
    We present Assignment Space Planning, a new efficient robot multi-agent coordination algorithm for the PSPACE- hard problem of multi-robot multi-object push rearrangement. In both simulated and real robot experiments, we demonstrate that our method produces optimal solutions for simple problems and exhibits novel emergent behaviors for complex scenarios. Assignment Space takes advantage of the domain structure by splitting the planning up into three stages, effectively reducing the search space size and enabling the planner to produce optimized plans in seconds. Our algorithm finds solutions of comparable quality to complete configuration space search while reducing the computing time to seconds, which allows our approach to be applied in practical scenarios in real-time.
    URI
    http://hdl.handle.net/1853/46407
    Collections
    • Humanoid Robotics Laboratory [49]
    • Humanoid Robotics Laboratory Publications [49]

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