Closed loop motion planning of cooperating mobile robots using graph connectivity

Authors:
Guilherme Augusto Silva Pereira;Vijay Kumar;Mario Fernando Montenegro Campos
Affiliations:
Departamento de Engenharia Elétrica, Universidade Federal de Minas Gerais, Av. Antônio Carlos 6627, Belo Horizonte, MG 31270-010, Brazil;GRASP Laboratory, University of Pennsylvania, 3330 Walnut Street, Philadelphia, PA 19104-6228, USA;Departamento de Ciência da Computação, Universidade Federal de Minas Gerais, Av. Antônio Carlos 6627, Belo Horizonte, MG 31270-010, Brazil
Venue:
Robotics and Autonomous Systems
Year:
2008

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Abstract

In this paper we address the problem of planning the motion of a team of cooperating mobile robots subject to constraints on relative configuration imposed by the nature of the task they are executing. We model constraints between robots using a graph where each edge is associated with the interaction between two robots and describes a constraint on relative configurations. We develop a decentralized motion control system that leads each robot to their individual goals while maintaining the constraints specified on the graph. We present experimental results with groups of holonomic and non-holonomic mobile robots.