Coordinated motion planning of multiple robots in multi-point dynamic aggregation task

Bin Xin; Yang Guang Zhu; Yu Long Ding; Guan Qiang Gao

doi:10.1109/ICCA.2016.7505398

Coordinated motion planning of multiple robots in multi-point dynamic aggregation task

Bin Xin^*, Yang Guang Zhu, Yu Long Ding, Guan Qiang Gao

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Citations (Scopus)

Abstract

A kind of typical task model, namely Multi-Point Dynamic Aggregation (MPDA), is proposed in this paper for systematically studying the cooperation and coordination methodologies of multiple robots in complex tasks. MPDA refers to that multiple robots which are located in different places aggregate to their task points to complete their tasks cooperatively, and the tasks are completed when the state of each task point reaches to a value of hope. In the MPDA task, a distributed motion planning is proposed in this paper for the motion planning of multiple robots. Simulation results show that the algorithm can effectively solve the motion planning problem of multiple robots in the MPDA task. It is also demonstrated that all robots can effectively avoid collisions with obstacles in the environment and other robots, and cooperatively complete the MPDA task efficiently.

Original language	English
Title of host publication	12th IEEE International Conference on Control and Automation, ICCA 2016
Publisher	IEEE Computer Society
Pages	933-938
Number of pages	6
ISBN (Electronic)	9781509017386
DOIs	https://doi.org/10.1109/ICCA.2016.7505398
Publication status	Published - 7 Jul 2016
Event	12th IEEE International Conference on Control and Automation, ICCA 2016 - Kathmandu, Nepal Duration: 1 Jun 2016 → 3 Jun 2016

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2016-July
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	12th IEEE International Conference on Control and Automation, ICCA 2016
Country/Territory	Nepal
City	Kathmandu
Period	1/06/16 → 3/06/16

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10.1109/ICCA.2016.7505398

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Xin, B., Zhu, Y. G., Ding, Y. L., & Gao, G. Q. (2016). Coordinated motion planning of multiple robots in multi-point dynamic aggregation task. In 12th IEEE International Conference on Control and Automation, ICCA 2016 (pp. 933-938). Article 7505398 (IEEE International Conference on Control and Automation, ICCA; Vol. 2016-July). IEEE Computer Society. https://doi.org/10.1109/ICCA.2016.7505398

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title = "Coordinated motion planning of multiple robots in multi-point dynamic aggregation task",

abstract = "A kind of typical task model, namely Multi-Point Dynamic Aggregation (MPDA), is proposed in this paper for systematically studying the cooperation and coordination methodologies of multiple robots in complex tasks. MPDA refers to that multiple robots which are located in different places aggregate to their task points to complete their tasks cooperatively, and the tasks are completed when the state of each task point reaches to a value of hope. In the MPDA task, a distributed motion planning is proposed in this paper for the motion planning of multiple robots. Simulation results show that the algorithm can effectively solve the motion planning problem of multiple robots in the MPDA task. It is also demonstrated that all robots can effectively avoid collisions with obstacles in the environment and other robots, and cooperatively complete the MPDA task efficiently.",

author = "Bin Xin and Zhu, {Yang Guang} and Ding, {Yu Long} and Gao, {Guan Qiang}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 12th IEEE International Conference on Control and Automation, ICCA 2016 ; Conference date: 01-06-2016 Through 03-06-2016",

year = "2016",

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doi = "10.1109/ICCA.2016.7505398",

language = "English",

series = "IEEE International Conference on Control and Automation, ICCA",

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Xin, B, Zhu, YG, Ding, YL & Gao, GQ 2016, Coordinated motion planning of multiple robots in multi-point dynamic aggregation task. in 12th IEEE International Conference on Control and Automation, ICCA 2016., 7505398, IEEE International Conference on Control and Automation, ICCA, vol. 2016-July, IEEE Computer Society, pp. 933-938, 12th IEEE International Conference on Control and Automation, ICCA 2016, Kathmandu, Nepal, 1/06/16. https://doi.org/10.1109/ICCA.2016.7505398

Coordinated motion planning of multiple robots in multi-point dynamic aggregation task. / Xin, Bin; Zhu, Yang Guang; Ding, Yu Long et al.
12th IEEE International Conference on Control and Automation, ICCA 2016. IEEE Computer Society, 2016. p. 933-938 7505398 (IEEE International Conference on Control and Automation, ICCA; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Coordinated motion planning of multiple robots in multi-point dynamic aggregation task

AU - Xin, Bin

AU - Zhu, Yang Guang

AU - Ding, Yu Long

AU - Gao, Guan Qiang

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N2 - A kind of typical task model, namely Multi-Point Dynamic Aggregation (MPDA), is proposed in this paper for systematically studying the cooperation and coordination methodologies of multiple robots in complex tasks. MPDA refers to that multiple robots which are located in different places aggregate to their task points to complete their tasks cooperatively, and the tasks are completed when the state of each task point reaches to a value of hope. In the MPDA task, a distributed motion planning is proposed in this paper for the motion planning of multiple robots. Simulation results show that the algorithm can effectively solve the motion planning problem of multiple robots in the MPDA task. It is also demonstrated that all robots can effectively avoid collisions with obstacles in the environment and other robots, and cooperatively complete the MPDA task efficiently.

AB - A kind of typical task model, namely Multi-Point Dynamic Aggregation (MPDA), is proposed in this paper for systematically studying the cooperation and coordination methodologies of multiple robots in complex tasks. MPDA refers to that multiple robots which are located in different places aggregate to their task points to complete their tasks cooperatively, and the tasks are completed when the state of each task point reaches to a value of hope. In the MPDA task, a distributed motion planning is proposed in this paper for the motion planning of multiple robots. Simulation results show that the algorithm can effectively solve the motion planning problem of multiple robots in the MPDA task. It is also demonstrated that all robots can effectively avoid collisions with obstacles in the environment and other robots, and cooperatively complete the MPDA task efficiently.

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Coordinated motion planning of multiple robots in multi-point dynamic aggregation task

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