Finding graph topologies for feasible multirobot motion planning
Intelligent Robots and Systems（2012）
摘要
In this paper we present a design methodology for mapping the configuration space of multirobot systems in a warehouse. The method generates a tree topology with robot and terminal nodes. In the most general case multirobot motion planning problems are NP-complete. But, we show that pebble motion problems in the resultant tree topology are always feasible. Our method uses an integer programming formulation to find such a solution.
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关键词
integer programming,mobile robots,multi-robot systems,path planning,trees (mathematics),warehouse automation,NP-complete problems,configuration space mapping,design methodology,graph topologies,integer programming formulation,multirobot motion planning problem,multirobot systems,pebble motion problems,robot nodes,terminal nodes,tree topology,warehouse,graph theory,integer programming,multirobot motion planning
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