This paper is focused on solving the multiple robots motion planning problem in a robust way, whereas we say that a motion plan is robust if it can be used in spite of small variations in the motion context. After a critical review of our previous research on generating multiple robots motion plans, we classify several ''sources of instability'' useful for establishing criteria for robustness. These sources include variations of the environment model, variations in the number of robots and paths, and variations in the motion parameters of the moving items. We define various ''Impact Factors''. that evaluate how much a variation affects a given plan. For example, a new path (for a robot) can be associated with a Collision Impact Factor, that estimate how many collisions among moving objects may occur along that path. Hence, to evaluate the motion plan robustness, we define how quality values for motion plans are modified by the Impact Factors.

A framework for robust multiple robots motion planning

FERRARI, CARLO;PAGELLO, ENRICO;
1996

Abstract

This paper is focused on solving the multiple robots motion planning problem in a robust way, whereas we say that a motion plan is robust if it can be used in spite of small variations in the motion context. After a critical review of our previous research on generating multiple robots motion plans, we classify several ''sources of instability'' useful for establishing criteria for robustness. These sources include variations of the environment model, variations in the number of robots and paths, and variations in the motion parameters of the moving items. We define various ''Impact Factors''. that evaluate how much a variation affects a given plan. For example, a new path (for a robot) can be associated with a Collision Impact Factor, that estimate how many collisions among moving objects may occur along that path. Hence, to evaluate the motion plan robustness, we define how quality values for motion plans are modified by the Impact Factors.
Proceedings of the 1996 IEEE/RSJ Int. COnf. on Intelligent Robots and Systems
0780332148
File in questo prodotto:
Non ci sono file associati a questo prodotto.
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11577/2534907
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? 0
social impact