Interaction Templates for Multi-Robot Systems
This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and...
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| Veröffentlicht in: | IEEE robotics and automation letters 2019-07, Vol.4 (3), p.2926-2933 |
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| container_end_page | 2933 |
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| container_issue | 3 |
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| container_title | IEEE robotics and automation letters |
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| creator | Motes, James Sandstrom, Read Adams, Will Ogunyale, Tobi Thomas, Shawna Amato, Nancy M. |
| description | This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and motion planning (TMP) approaches typically requires reasoning about the possible interactions and checking many of the possible robot combinations when searching for a solution. We present a multi-robot planning method called Interaction Templates (ITs), which moves certain types of robot interactions from the task planner to the motion planner. ITs model interactions between a set of robots with a small roadmap. This roadmap is then tiled into the environment and connected to the robots' individual roadmaps. The resulting combined roadmap allows interactions to be considered by the motion planner. We apply ITs to homogeneous and heterogeneous robot teams under both required and optional cooperation scenarios, which previously required a task planning method. We show improved performance over a current TMP planning approach. |
| doi_str_mv | 10.1109/LRA.2019.2923386 |
| format | Article |
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Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and motion planning (TMP) approaches typically requires reasoning about the possible interactions and checking many of the possible robot combinations when searching for a solution. We present a multi-robot planning method called Interaction Templates (ITs), which moves certain types of robot interactions from the task planner to the motion planner. ITs model interactions between a set of robots with a small roadmap. This roadmap is then tiled into the environment and connected to the robots' individual roadmaps. The resulting combined roadmap allows interactions to be considered by the motion planner. We apply ITs to homogeneous and heterogeneous robot teams under both required and optional cooperation scenarios, which previously required a task planning method. We show improved performance over a current TMP planning approach.</description><identifier>ISSN: 2377-3766</identifier><identifier>EISSN: 2377-3766</identifier><identifier>DOI: 10.1109/LRA.2019.2923386</identifier><identifier>CODEN: IRALC6</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>cooperating robots ; Manipulators ; motion and path planning ; Motion planning ; Multi-robot systems ; Multiple robots ; Payloads ; Planning ; Resource management ; Robot dynamics ; Robot kinematics ; Robots ; Task analysis ; Task planning (robotics)</subject><ispartof>IEEE robotics and automation letters, 2019-07, Vol.4 (3), p.2926-2933</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2019</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c333t-b7e0af854dd4c2326abe55f3ca073062085377adf9f69828f08b992aef3ab0053</citedby><cites>FETCH-LOGICAL-c333t-b7e0af854dd4c2326abe55f3ca073062085377adf9f69828f08b992aef3ab0053</cites><orcidid>0000-0001-5817-5290 ; 0000-0001-9205-1523 ; 0000-0002-9967-2493 ; 0000-0002-9553-7331</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/8737744$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>315,781,785,797,27929,27930,54763</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/8737744$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Motes, James</creatorcontrib><creatorcontrib>Sandstrom, Read</creatorcontrib><creatorcontrib>Adams, Will</creatorcontrib><creatorcontrib>Ogunyale, Tobi</creatorcontrib><creatorcontrib>Thomas, Shawna</creatorcontrib><creatorcontrib>Amato, Nancy M.</creatorcontrib><title>Interaction Templates for Multi-Robot Systems</title><title>IEEE robotics and automation letters</title><addtitle>LRA</addtitle><description>This letter describes a framework for multi-robot problems that require or utilize interactions between robots. 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We show improved performance over a current TMP planning approach.</description><subject>cooperating robots</subject><subject>Manipulators</subject><subject>motion and path planning</subject><subject>Motion planning</subject><subject>Multi-robot systems</subject><subject>Multiple robots</subject><subject>Payloads</subject><subject>Planning</subject><subject>Resource management</subject><subject>Robot dynamics</subject><subject>Robot kinematics</subject><subject>Robots</subject><subject>Task analysis</subject><subject>Task planning (robotics)</subject><issn>2377-3766</issn><issn>2377-3766</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkE1LAzEQhoMoWGrvgpcFz7tOMpuvYylqCxWh1nPI7iawpW1qkh76793SIp5mDs878_IQ8kihohT0y3I1rRhQXTHNEJW4ISOGUpYohbj9t9-TSUobAKCcSdR8RMrFPrto29yHfbF2u8PWZpcKH2LxcdzmvlyFJuTi65Sy26UHcuftNrnJdY7J99vrejYvl5_vi9l0WbaImMtGOrBe8brr6pYhE7ZxnHtsLUgEwUDxoZHtvPZCK6Y8qEZrZp1H2wBwHJPny91DDD9Hl7LZhGPcDy8NY1pQqHWNAwUXqo0hpei8OcR-Z-PJUDBnL2bwYs5ezNXLEHm6RHrn3B-u5FCnrvEXMgxctw</recordid><startdate>20190701</startdate><enddate>20190701</enddate><creator>Motes, James</creator><creator>Sandstrom, Read</creator><creator>Adams, Will</creator><creator>Ogunyale, Tobi</creator><creator>Thomas, Shawna</creator><creator>Amato, Nancy M.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | cooperating robots Manipulators motion and path planning Motion planning Multi-robot systems Multiple robots Payloads Planning Resource management Robot dynamics Robot kinematics Robots Task analysis Task planning (robotics) |
| title | Interaction Templates for Multi-Robot Systems |
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