Abstract
When robots perform teamwork in a shared workspace, they might be confronted with the risk of blocking each other's ways, which will result in conflicts or interference among the robots. How to plan collision-free paths for all the robots is the major challenge issue in the multi-robot cooperative pathfinding problem, in which each robot has to navigate from its starting location to the destination while keeping avoiding stationary obstacles as well as its teammates. In this paper, we present a novel fully decentralized approach to this problem. Our approach allows the robots to make real-time responses to the dynamic environment and can resolve a set of benchmark deadlock situations subject to complex spatial constraints in the robots' workspace. When confronted with conflicting situations, robots can employ waiting, dodging, retreating and turning-head strategies to make local adjustments. In addition, experimental results show that our proposed approach provides an efficient and competitive solution to this problem.
| Original language | English |
|---|---|
| Title of host publication | Modern Advances in Applied Intelligence |
| Subtitle of host publication | 27th International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2014, Proceedings |
| Editors | Moonis Ali, Shyi-Ming Chen, Jeng-Shyang Pan, Mong-Fong Horng |
| Publisher | Springer/Verlag |
| Pages | 21-31 |
| Number of pages | 11 |
| Volume | Part 1 |
| ISBN (Electronic) | 97833190745-9 |
| ISBN (Print) | 9783319074542 |
| DOIs | |
| Publication status | Published - 2014 |
| Externally published | Yes |
| Event | 27th International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2014 - Kaohsiung, Taiwan, Province of China Duration: 3 Jun 2014 → 6 Jun 2014 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Number | PART 1 |
| Volume | 8481 LNAI |
| ISSN (Print) | 0302-9743 |
| ISSN (Electronic) | 1611-3349 |
Conference
| Conference | 27th International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2014 |
|---|---|
| Country | Taiwan, Province of China |
| City | Kaohsiung |
| Period | 3/06/14 → 6/06/14 |
Fingerprint
Keywords
- collision avoidance
- Cooperative pathfinding
- coordination
Cite this
}
Multi-robot cooperative pathfinding : A decentralized approach. / Wei, Changyun; Hindriks, Koen V.; Jonker, Catholijn M.
Modern Advances in Applied Intelligence: 27th International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2014, Proceedings. ed. / Moonis Ali; Shyi-Ming Chen; Jeng-Shyang Pan; Mong-Fong Horng. Vol. Part 1 Springer/Verlag, 2014. p. 21-31 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8481 LNAI, No. PART 1).Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Multi-robot cooperative pathfinding
T2 - A decentralized approach
AU - Wei, Changyun
AU - Hindriks, Koen V.
AU - Jonker, Catholijn M.
PY - 2014
Y1 - 2014
N2 - When robots perform teamwork in a shared workspace, they might be confronted with the risk of blocking each other's ways, which will result in conflicts or interference among the robots. How to plan collision-free paths for all the robots is the major challenge issue in the multi-robot cooperative pathfinding problem, in which each robot has to navigate from its starting location to the destination while keeping avoiding stationary obstacles as well as its teammates. In this paper, we present a novel fully decentralized approach to this problem. Our approach allows the robots to make real-time responses to the dynamic environment and can resolve a set of benchmark deadlock situations subject to complex spatial constraints in the robots' workspace. When confronted with conflicting situations, robots can employ waiting, dodging, retreating and turning-head strategies to make local adjustments. In addition, experimental results show that our proposed approach provides an efficient and competitive solution to this problem.
AB - When robots perform teamwork in a shared workspace, they might be confronted with the risk of blocking each other's ways, which will result in conflicts or interference among the robots. How to plan collision-free paths for all the robots is the major challenge issue in the multi-robot cooperative pathfinding problem, in which each robot has to navigate from its starting location to the destination while keeping avoiding stationary obstacles as well as its teammates. In this paper, we present a novel fully decentralized approach to this problem. Our approach allows the robots to make real-time responses to the dynamic environment and can resolve a set of benchmark deadlock situations subject to complex spatial constraints in the robots' workspace. When confronted with conflicting situations, robots can employ waiting, dodging, retreating and turning-head strategies to make local adjustments. In addition, experimental results show that our proposed approach provides an efficient and competitive solution to this problem.
KW - collision avoidance
KW - Cooperative pathfinding
KW - coordination
UR - http://www.scopus.com/inward/record.url?scp=84958533348&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958533348&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-07455-9_3
DO - 10.1007/978-3-319-07455-9_3
M3 - Conference contribution
SN - 9783319074542
VL - Part 1
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 21
EP - 31
BT - Modern Advances in Applied Intelligence
A2 - Ali, Moonis
A2 - Chen, Shyi-Ming
A2 - Pan, Jeng-Shyang
A2 - Horng, Mong-Fong
PB - Springer/Verlag
ER -