945 research outputs found
Collision-aware Task Assignment for Multi-Robot Systems
We propose a novel formulation of the collision-aware task assignment (CATA)
problem and a decentralized auction-based algorithm to solve the problem with
optimality bound. Using a collision cone, we predict potential collisions and
introduce a binary decision variable into the local reward function for task
bidding. We further improve CATA by implementing a receding collision horizon
to address the stopping robot scenario, i.e. when robots are confined to their
task location and become static obstacles to other moving robots. The
auction-based algorithm encourages the robots to bid for tasks with collision
mitigation considerations. We validate the improved task assignment solution
with both simulation and experimental results, which show significant reduction
of overlapping paths as well as deadlocks
Technical Report: A Receding Horizon Algorithm for Informative Path Planning with Temporal Logic Constraints
This technical report is an extended version of the paper 'A Receding Horizon
Algorithm for Informative Path Planning with Temporal Logic Constraints'
accepted to the 2013 IEEE International Conference on Robotics and Automation
(ICRA). This paper considers the problem of finding the most informative path
for a sensing robot under temporal logic constraints, a richer set of
constraints than have previously been considered in information gathering. An
algorithm for informative path planning is presented that leverages tools from
information theory and formal control synthesis, and is proven to give a path
that satisfies the given temporal logic constraints. The algorithm uses a
receding horizon approach in order to provide a reactive, on-line solution
while mitigating computational complexity. Statistics compiled from multiple
simulation studies indicate that this algorithm performs better than a baseline
exhaustive search approach.Comment: Extended version of paper accepted to 2013 IEEE International
Conference on Robotics and Automation (ICRA
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