Motion planning for multiple robots with multi-mode operations via disjunctive graphs

Abstract

[[abstract]]A new approach to motion planning for multiple robots with multi-mode operations is proposed. Although sharing a common workspace, the robots are assumed to perform periodical tasks independently. The goal is to schedule the motion trajectories of the robots so as to avoid collisions among them. The superiority of this approach is demonstrated with various robot operation requirements, including "non-priority", "with-priority", and "multicycle" operation modes. Some techniques for speeding up the scheduling process are also presented