Real-time robot motion planning using rasterizing computer graphics hardware
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Complexity of the mover's problem and generalizations
SFCS '79 Proceedings of the 20th Annual Symposium on Foundations of Computer Science
Adaptive action selection without explicit communication formultirobot box-pushing
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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The multi-robot box-pushing problem in cluttered environments has demonstrated to be a very complex problem with multiple practical applications. In this document we present a new strategy to solve it, inspired in the wavefront algorithm which it also includes some pertinent modifications to obtain trajectories that facilitate the box displacement for non-holonomic mobile robots. The proposed method obtains its benefits by the reduction of route distances, reducing the direction changes in the routes, and by searching the best pushing points for robots.