From a Multi-robot Global Plan to Single-robot Actions

Bernd Brüeggemann, Elmar Langetepe, Andreas Lenerz, Dirk Schulz

2012

Abstract

Planning for and coordinating robots in a multi-robot system (MRS) is crucial for optimizing the performance of the whole MRS. Thus a plan for the movement of the MRS must exist. If some centralized entity calculates the plan, it may result in one plan for the whole group. Such a global plan, which shows how the MRS can reach a goal state, has to be transformed into action guidelines for each robot. This task becomes harder if such a global plan includes dependencies caused by necessary cooperation of the robots. In this paper we present an approach to transform a global multi-robot plan into single-robot actions. We also provide a method to determine how many robots are needed to fulfil the global plan while obeying some constraints. Here we use plans generated by a coordinated navigation planner with spatial constraints, but the method could be expanded to a more general class of plans built from a centralized entity.

Paper Citation

in Harvard Style

Brüeggemann B., Langetepe E., Lenerz A. and Schulz D. (2012). From a Multi-robot Global Plan to Single-robot Actions . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 419-422. DOI: 10.5220/0004016304190422

in Bibtex Style

@conference{icinco12,
author={Bernd Brüeggemann and Elmar Langetepe and Andreas Lenerz and Dirk Schulz},
title={From a Multi-robot Global Plan to Single-robot Actions},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={419-422},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004016304190422},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - From a Multi-robot Global Plan to Single-robot Actions
SN - 978-989-8565-22-8
AU - Brüeggemann B.
AU - Langetepe E.
AU - Lenerz A.
AU - Schulz D.
PY - 2012
SP - 419
EP - 422
DO - 10.5220/0004016304190422