Bipartite graph matching-based coordination mechanism for multi-robot path planning under communication constraints

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

We propose a coordination mechanism to avoid inter-robot collisions when the robots' paths overlap with each other. Our proposed coordination technique uses a weighted bipartite matching-based formulation to solve this problem. Initially, each robot is given a unique goal location. But the robots do not know about other robots' planned paths until they come within each other's communication ranges. When two or more robots get within an unsafe distance, they coordinate their paths to avoid collisions with each other. The objective of the coordination mechanism is to plan a modified path for each coordinating robot (if needed) so that all the robots can reach their goal locations without collision with each other and also while reducing the extra distance introduced while resolving path conflicts. We have proved the correctness and convergence of our coordination strategy. Our experimental results show that the robots using our proposed strategy travel up to 4.2 times less than a comparable heuristic approach.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages857-862
Number of pages6
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Dutta, A., & Dasgupta, P. (2017). Bipartite graph matching-based coordination mechanism for multi-robot path planning under communication constraints. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 857-862). [7989105] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989105