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Multiple Mobile Robot Teams, Path Planning and Motion Coordination in

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Encyclopedia of Complexity and Systems Science

Definition of the Subject

Multi-robot path planning and motion coordinationaddresses the problem of how teams of autonomous mobile robotscan share the same workspace while avoiding interference with each other, and/or while achieving group motion objectives. Nearly all applications ofmultiple autonomous mobile robots must address this issue of motion coordination, either explicitly or implicitly. Multi-robot path planning and teaminghas been extensively studied since the 1980s. While many techniques have been developed to address this challenge, the general centralized multi-robotpath planning problem is known to be intractable, meaning that optimal solutions cannot be found in polynomial time. Thus, alternative techniques thatdecouple aspects of the motion planning and coordination problem have been proposed that trade off optimality for efficiency. A wide variety ofapplications can benefit from teams of robots that can coordinate...

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Abbreviations

Autonomous robot:

An autonomous robot is a robot that can perform tasks in unstructured environments with minimal human guidance.

Planned path:

A planned path is a pre-determined, obstacle-free, trajectory that a robot can follow to reach its goal position from its starting position.

Complete path planner:

A complete path planner is an algorithm that is guaranteed to find a path, if one exists.

Deadlocked path planning:

A deadlock is a situation in path planning in which a solution cannot be found, even though one exists. Typically, this is caused by robots blocking each other’s paths, and the planner being unable to find a solution in which robots move out of each other’s way.

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  1. Department of Electrical Engineering and Computer Science, University of Tennessee, Knoxville, USA

    Lynne E. Parker

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  1. RAMTECH LIMITED, 122 Escalle Lane, Larkspur, CA, 94939, USA

    Robert A. Meyers Ph. D. (Editor-in-Chief) (Editor-in-Chief)

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Parker, L.E. (2009). Multiple Mobile Robot Teams, Path Planning and Motion Coordination in. In: Meyers, R. (eds) Encyclopedia of Complexity and Systems Science. Springer, New York, NY. https://doi.org/10.1007/978-0-387-30440-3_344

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