TY - GEN
T1 - DisCoF
T2 - 12th International Symposium on Distributed Autonomous Robotic Systems, DARS 2014
AU - Zhang, Yu
AU - Kim, Kangjin
AU - Fainekos, Georgios
N1 - Funding Information:
This research is supported in part by the ARO grant W911NF-13-1-0023, the ONR grants N00014-13-1-0176 and N00014-13-1-0519, and the NSF award CNS 1116136.
Publisher Copyright:
© Springer Japan 2016.
PY - 2016
Y1 - 2016
N2 - Cooperative pathfinding is often addressed in one of two ways in the literature. In fully coupled approaches, robots are considered together and the plans for all robots are constructed simultaneously. In decoupled approaches, the plans are constructed only for a subset of robots at a time. While decoupled approaches can be much faster than fully coupled approaches, they are often suboptimal and incomplete. Although there exist a few decoupled approaches that achieve completeness, global information (which makes global coordination possible) is assumed. Global information may not be accessible in distributed robotic systems. In this paper, we provide a window-based approach to cooperative pathfinding with limited sensing and communication range in distributed systems (called DisCoF). In DisCoF, robots are assumed to be fully decoupled initially, and may gradually increase the level of coupling in an online and distributed fashion. In some cases, e.g., when global information is needed to solve the problem instance, DisCoF would eventually couple all robots together. DisCoF represents an inherently online approach since robots may only be aware of a subset of robots in the environment at any given point of time. Hence, they do not have enough information to determine non-conflicting plans with all the other robots. Completeness analysis of DisCoF is provided.
AB - Cooperative pathfinding is often addressed in one of two ways in the literature. In fully coupled approaches, robots are considered together and the plans for all robots are constructed simultaneously. In decoupled approaches, the plans are constructed only for a subset of robots at a time. While decoupled approaches can be much faster than fully coupled approaches, they are often suboptimal and incomplete. Although there exist a few decoupled approaches that achieve completeness, global information (which makes global coordination possible) is assumed. Global information may not be accessible in distributed robotic systems. In this paper, we provide a window-based approach to cooperative pathfinding with limited sensing and communication range in distributed systems (called DisCoF). In DisCoF, robots are assumed to be fully decoupled initially, and may gradually increase the level of coupling in an online and distributed fashion. In some cases, e.g., when global information is needed to solve the problem instance, DisCoF would eventually couple all robots together. DisCoF represents an inherently online approach since robots may only be aware of a subset of robots in the environment at any given point of time. Hence, they do not have enough information to determine non-conflicting plans with all the other robots. Completeness analysis of DisCoF is provided.
KW - Cooperative pathfinding
KW - Distributed robot systems
UR - http://www.scopus.com/inward/record.url?scp=84956601700&partnerID=8YFLogxK
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U2 - 10.1007/978-4-431-55879-8_23
DO - 10.1007/978-4-431-55879-8_23
M3 - Conference contribution
AN - SCOPUS:84956601700
SN - 9784431558774
T3 - Springer Tracts in Advanced Robotics
SP - 325
EP - 340
BT - Distributed Autonomous Robotic Systems - The 12th International Symposium
A2 - Cho, Young-Jo
A2 - Chong, Nak-Young
PB - Springer Verlag
Y2 - 2 November 2014 through 5 November 2014
ER -