Asynchronous Flooding Planner for Multi-Robot Navigation

Bernd Brüeggemann, Michael Brunner, Dirk Schulz

2013

Abstract

Within the topic of coordinated navigation of multi-robot systems (MRS) the problem may occur that there is a difference between where the robots are able to move to and where they are allowed to move. To deal with such constraints we propose a roadmap approach where those two different kinds of information are merged. So we encounter the problem of connecting several target positions with valid paths in a graph structure. Therefore, an asynchronous, parallel search algorithm is developed to find a passable and allowed way to the target positions. In addition to static planning we show that our search algorithm is able to deal with dynamic graphs and, to some extend, unknown environments.

Paper Citation

in Harvard Style

Brüeggemann B., Brunner M. and Schulz D. (2013). Asynchronous Flooding Planner for Multi-Robot Navigation . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 222-230. DOI: 10.5220/0004457802220230

in Bibtex Style

@conference{icinco13,
author={Bernd Brüeggemann and Michael Brunner and Dirk Schulz},
title={Asynchronous Flooding Planner for Multi-Robot Navigation},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={222-230},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004457802220230},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Asynchronous Flooding Planner for Multi-Robot Navigation
SN - 978-989-8565-71-6
AU - Brüeggemann B.
AU - Brunner M.
AU - Schulz D.
PY - 2013
SP - 222
EP - 230
DO - 10.5220/0004457802220230