23 research outputs found
Downwash-Aware Trajectory Planning for Large Quadrotor Teams
We describe a method for formation-change trajectory planning for large
quadrotor teams in obstacle-rich environments. Our method decomposes the
planning problem into two stages: a discrete planner operating on a graph
representation of the workspace, and a continuous refinement that converts the
non-smooth graph plan into a set of C^k-continuous trajectories, locally
optimizing an integral-squared-derivative cost. We account for the downwash
effect, allowing safe flight in dense formations. We demonstrate the
computational efficiency in simulation with up to 200 robots and the physical
plausibility with an experiment with 32 nano-quadrotors. Our approach can
compute safe and smooth trajectories for hundreds of quadrotors in dense
environments with obstacles in a few minutes.Comment: 8 page
Scalable Robotic Intra-Logistics with Answer Set Programming
Over time, Answer Set Programming (ASP) has gained traction as a versatile logic programming semantics with performant processing systems, used by a growing number of significant applications in academia and industry. However, this development is threatened by a lack of commonly accepted design patterns and techniques for ASP to address dynamic application on a real-world scale. To this end, we identified robotic intra-logistics as representative scenario, a major domain of interest in the context of the fourth industrial revolution. For this setting, we aim to provide a scalable and efficient ASP-based solutions by (1) stipulating a standardized test and benchmark framework; (2) leveraging existing ASP techniques through new design patterns; and (3) extending ASP with new functionalities. In this paper we will expand on the subject matter as well as detail our current progress and future plans
Scheduling and Airport Taxiway Path Planning Under Uncertainty
Congestion and uncertainty on the airport surface are major constraints to the available capacity of the air transport system. This project is to study the problem of planning and scheduling airport surface movement at large airports. Specifically, we focus on the departure time scheduling and taxiway path planning of multiple aircraft under uncertainty. We also developed a simulation tool that is capable of simulating aircraft movement along the taxiway and possible uncertainty during the movement
An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem
We consider multi-agent transport task problems where, e.g. in a factory
setting, items have to be delivered from a given start to a goal pose while the
delivering robots need to avoid collisions with each other on the floor. We
introduce a Task Conflict-Based Search (TCBS) Algorithm to solve the combined
delivery task allocation and multi-agent path planning problem optimally. The
problem is known to be NP-hard and the optimal solver cannot scale. However, we
introduce it as a baseline to evaluate the sub-optimality of other approaches.
We show experimental results that compare our solver with different sub-optimal
ones in terms of regret