.png){kind=icon}
返回
Hypergraph-Based Multi-robot Task and Motion Planning
.png){kind=icon}
OA
AI
DOI：10.1109/TRO.2023.3297011.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
In this article, we present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than the existing methods and successfully plans for problems with up to 20 objects, more than three times as many objects as comparable methods. We achieve this improvement by decomposing the planning space to consider manipulators alone, objects, and manipulators holding objects. We represent this decomposition with a hypergraph where vertices are decomposed elements of the planning spaces and hyperarcs are transitions between elements. The existing methods use graph-based representations where vertices are full composite spaces and edges are transitions between these. Using the hypergraph reduces the representation size of the planning space for multimanipulator object rearrangement, the number of hypergraph vertices scales linearly with the number of either robots or objects, while the number of hyperarcs scales quadratically with the number of robots and linearly with the number of objects. In contrast, the number of vertices and edges in graph-based representations scales exponentially in the number of robots and objects. We show that similar gains can be achieved for other multi-robot task and motion planning problems.
Keyword:
Robots
Robot kinematics
Planning
Task analysis
Switches
Search problems
Multi-robot systems
Cooperating robots
motion and path planning
multi-robot systems
task planning
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
机构
引用论文
.png){kind=icon}
An Integrated Carbon Nitride‐Nickel Photocatalyst for the Amination of Aryl Halides Using Sodium Azide一种集成的碳氮镍光催化剂，用于使用叠氮化钠对芳基卤化物进行胺化
OAAI
OAAI分享收藏Calculation Method for Load Capacity of Urban Rail Transit Station considering Cascading FailureOAAI
OAAI分享收藏
查看更多内容