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Coordinated motion planning for two independent robots

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Abstract

We present anO(n 2) algorithm for planning a coordinated collision-free motion of two independent robot systems of certain kinds, each having two degrees of freedom, which move in the plane amidst polygonal obstacles having a total ofn corners. We exemplify our technique in the case of two “planar Stanford arms”, but also discuss the case of two discs or convex translating objects. The algorithm improves previous algorithms for this kind of problems, and can be extended to a fairly simple general technique for obtaining efficient coordinated motion planning algorithms.

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Authors and Affiliations

  1. Courant Institute of Mathematical Sciences, New York University, 10012, New York, NY, USA

    Micha Sharir

  2. Computer Science Department, Tel-Aviv University, Tel-Aviv, Israel

    Micha Sharir & Shmuel Sifrony

Authors
  1. Micha Sharir
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  2. Shmuel Sifrony
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Sharir, M., Sifrony, S. Coordinated motion planning for two independent robots. Ann Math Artif Intell 3, 107–130 (1991). https://doi.org/10.1007/BF01530889

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  • DOI: https://doi.org/10.1007/BF01530889

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