Abstract
The motion-planning problem for multiple mobile robots is addressed. Conventional methods of planning the motion for a single moving object are based on the assumption of a static environment, and thus they cannot be used here because each of the robots is in a dynamic environment consisting of other moving robots. Centralized approaches to the multiple moving objects problem were shown to be intractable. In order to find a practical solution for the problem, it is necessary to reduce the complexity of it by decomposing the problem and introducing various heuristic techniques. The authors propose a decentralized approach which is based on the decomposition of the problem into two subproblems: the global path-planning problem and the local path-replanning problem. This approach is based on a framework of problem solving using a group of intelligent agents.
| Original language | English |
|---|---|
| Title of host publication | Unknown Host Publication Title |
| Publisher | IEEE |
| Pages | 1779-1784 |
| Number of pages | 6 |
| ISBN (Print) | 0818607874 |
| Publication status | Published - 1987 |
| Externally published | Yes |