@inproceedings{5b4345c4bbb14f288b172a925b4fcc76,
title = "Probability-Based Time-Optimal Motion Planning of Multi-robots Along Specified Paths",
abstract = "In this paper, we study the time-optimal motion planning problem for multi-robots under their kinodynamic constraints along specified paths. Unlike previous approaches that coordinate their motions only at a road intersection and without considering noise influence, we for the first time use the probabilistic motion model caused by the noise when planning robot motion. By deriving the conflict probability, we design a scheme to sufficiently guarantee conflict probability below our expectation. In particular, we map the potential conflict to the infeasible rectangle region in robot{\textquoteright}s path-time coordinate plane, which enables us to apply velocity interval propagation to find a time-optimal motion for each robot. Then we integrate our approach into two popular multi-robot motion planners, i.e., conflict-based search and prioritized planning approach. Experimental results demonstrate that, conflict-based search needs more computation time to achieve less motion time than prioritized motion planner.",
keywords = "Motion planning, Multi-robot system, Optimization, Probability analysis",
author = "Haonan Wang and Biao Hu and Zhengcai Cao",
note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Singapore Pte Ltd.; 1st International Conference on Robotics and Rehabilitation Intelligence, ICRRI 2020 ; Conference date: 09-09-2020 Through 11-09-2020",
year = "2020",
doi = "10.1007/978-981-33-4932-2\_10",
language = "英语",
isbn = "9789813349315",
series = "Communications in Computer and Information Science",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "138--153",
editor = "Jianhua Qian and Honghai Liu and Dalin Zhou and Jiangtao Cao",
booktitle = "Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings",
address = "德国",
}