Theory and implementation of path planning by negotiation for decentralized agents

Authors:
Oliver Purwin;Raffaello D'Andrea;Jin-Woo Lee
Affiliations:
Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA;Department of Mechanical and Process Engineering, ETH Zürich, Switzerland;Electronics and Control Integration Lab, General Motors, Warren, MI, USA
Venue:
Robotics and Autonomous Systems
Year:
2008

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Abstract

This paper presents a cooperative decentralized path-planning algorithm for a group of autonomous agents that provides guaranteed collision-free trajectories in real-time. The algorithm is robust with respect to arbitrary delays in the wireless traffic, possible sources being transmission time and error correction. Agents move on reserved areas which are guaranteed not to intersect, therefore ensuring safety. A handshaking procedure guarantees recent information states for the agents. Conflicts between agents are resolved by a cost-based negotiation process. The basic algorithm is augmented by the introduction of waypoints, which increase performance at the cost of additional wireless traffic. An implementation of the algorithm is tested in simulation and successfully applied to a real system of autonomous robots. The results are presented and discussed.