TY - GEN
T1 - DisCoF+
T2 - 11th IEEE International Conference on Automation Science and Engineering, CASE 2015
AU - Kim, Kangjin
AU - Campbell, Joe
AU - Duong, William
AU - Zhang, Yu
AU - Fainekos, Georgios
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/10/7
Y1 - 2015/10/7
N2 - In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees which assume access to global communication and coordination, DisCoF does not make this assumption. The implication is that at any given time in DisCoF, the robots may not all be aware of each other which is often the case in distributed systems. As a result, DisCoF represents an inherently online approach since coordination can only be realized in an opportunistic manner between robots that are within each other's sensing and communication range. However, there are a few assumptions made in DisCoF to facilitate a formal analysis which must be removed to work with distributed multi-robot platforms. In this paper, we present DisCoF+ which extends DisCoF by enabling an asynchronous solution, as well as providing flexible decoupling between robots for performance improvement. Furthermore, we evaluate our implementation of DisCoF+ by implementing our distributed multi-robot algorithm in the Webots simulator. Finally, we compare DisCoF+ with DisCoF in terms of plan quality and planning performance.
AB - In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees which assume access to global communication and coordination, DisCoF does not make this assumption. The implication is that at any given time in DisCoF, the robots may not all be aware of each other which is often the case in distributed systems. As a result, DisCoF represents an inherently online approach since coordination can only be realized in an opportunistic manner between robots that are within each other's sensing and communication range. However, there are a few assumptions made in DisCoF to facilitate a formal analysis which must be removed to work with distributed multi-robot platforms. In this paper, we present DisCoF+ which extends DisCoF by enabling an asynchronous solution, as well as providing flexible decoupling between robots for performance improvement. Furthermore, we evaluate our implementation of DisCoF+ by implementing our distributed multi-robot algorithm in the Webots simulator. Finally, we compare DisCoF+ with DisCoF in terms of plan quality and planning performance.
UR - http://www.scopus.com/inward/record.url?scp=84952766885&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84952766885&partnerID=8YFLogxK
U2 - 10.1109/CoASE.2015.7294106
DO - 10.1109/CoASE.2015.7294106
M3 - Conference contribution
AN - SCOPUS:84952766885
T3 - IEEE International Conference on Automation Science and Engineering
SP - 369
EP - 376
BT - 2015 IEEE Conference on Automation Science and Engineering
PB - IEEE Computer Society
Y2 - 24 August 2015 through 28 August 2015
ER -