M. Sharir and S. Sifrony. Coordinated motion planning for two independent robots. Ann. Math. Artif. Intell., 3:107-130, 1991.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....plans the motion for each individual robot. A centralized control may involve very high computational and communication complexity, may require very complicated planars, and lack of flexibility and robustness. For complexity results, see [15, 25] for some works in the centralized approach, see [10, 12, 32]. In a distributed control paradigm, each robot determines its motion by observing the environment and by using some rules. This is done locally in the sense that a robot s plan is not based on the whole information of the system, but only on information accessible to itself. It does not know ....

M. Sharir and S. Sifrony. Coordinated motion planning for two independent robots. In Proc. 4th Ann. ACM Symp. on Computational Geometry, pages 319--328, 1988.

....planning Schwartz and Sharir [SS83] have described an exact cell decomposition algorithm for multiple discs in the plane moving among polygonal obstacles. Their approach is based on critical curves. The complexity of the algorithm is O(n 3 ) for 2 discs, and O(n 13 ) for 3 discs. In [SS88] Sharir and Sifrony present a general O(n 2 ) algorithm for two robots each with 2 degrees of freedom. The robots can be discs or manipulators. Ardema and Skowronski [AS91] describe a method for generating collision free motion control for two specific, constrained manipulators, by modelling ....

M. Sharir and S. Sifrony. Coordinated motion planning for two independent robots. In Proceedings of the Fourth ACM Symposium on Computational Geometry, 1988.

....Research (NWO) z KPN Research, P.O. Box 421, 2260 AK Leidschendam, the Netherlands. resolving possible collisions between the paths. Algorithms following this approach are usually incomplete in the sense that they are not guaranteed to find a solution if one exists. In centralized planning [17, 19] the m robots are regarded as one multi robot, that is, one robot with several independent body parts that are not necessarily connected to each other. Collisions between the robots R i turn into collisions between different body parts in other words, self collisions of the multi robot. The ....

....are guaranteed to find a solution whenever one exists. Their main drawback is that the dimension of the configuration space of the multi robot is much higher than that of the individual robots. This increases both the combinatorial and the algebraic complexity of the problem. Sharir and Sifrony [19] present a general centralized planning method that is sometimes more efficient than applying the method of Basu et al. to the multi robot. Their method requires a cell decomposition for the free portion of each individual configuration space, such that each cell has constant complexity and is ....

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Micha Sharir and S. Sifrony. Coordinated motion planning for two independent robots. Ann. Math. Artif. Intell., 3:107--130, 1991.

....by maximizing the number of robots which can travel in a straight line from their start point to their goal point. The algorithm therefore works well in sparse environments, but fails when many obstacles are introduced. Our algorithm takes the general approach described for the case of 2 robots in [SS88]. They introduce the paradigm of taking the product of 2 dimensional cells in a cell decomposition of the free space for each robot alone, and then further decomposing the product cells in order to avoid collisions between the two robots. In this paper, our contribution is to apply this paradigm ....

Micha Sharir and Shmuel Sifrony. Coordinated motion planning for two independent robots. In 4th Symposium on Computational Geometry, pages 319--328. ACM, 1988.

....as a single system, with k = P t i=1 k i degrees of freedom, where t is the number of moving objects, and k i is the number of degrees of freedom of the ith object. However, k will generally be too large, and the problem then will be more dicult to tackle. A better approach is as follows [SS91] Let B 1 ; B t be the given independent objects. For each i = 1; t, construct the free con guration space F for B i alone (ignoring the presence of all other moving objects) The actual free con guration space F is a subset of Q t i=1 F . Suppose we have managed to ....

M. Sharir and S. Sifrony. Coordinated motion planning for two independent robots. Ann. Math. Artif. Intell., 3:107-130, 1991.

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M. Sharir and S. Sifrony. Coordinated motion planning for two independent robots. Ann. Math. Artif. Intell., 3:107-130, 1991.

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