TY - GEN
T1 - Real-time multi-robot path planning revisited as a caching problem
AU - Ravankar, Abhijeet
AU - Ravankar, Ankit A.
AU - Kobayashi, Yukinori
AU - Peng, Chao Chung
AU - Emaru, Takanori
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/6/22
Y1 - 2018/6/22
N2 - Path planning is a fundamental component of mobile robots. In case of large maps, path planning is a time consuming process, particularly for robots equipped with embedded computers and has adverse effects on the real-time response of the robots. This paper takes a fresh look at the path planning problem by considering it to be a caching or tabular-lookup problem. The robots 'cache' their generated paths and arm trajectories across various start and goal configurations. These cached paths are stored in a database accessible to robots in the network. Robot path planning is then reduced to a simple table-lookup which can be resolved in real-time. To overcome a cache-miss, a micro-grid and macro-grid based caching is proposed for real-time path generation for 'nearby' start and goal configurations. Another important characteristic of the proposed cache based path planning is that multiple robots also update the locations of the new obstacles in the map. This benefits other robots as they are able to get an updated information about the new obstacles in remote locations of the map, without explicitly discovering those obstacles by themselves. We show that by considering the robot path planning as a caching problem, robots can achieve faster and real-time responses, particularly in case of large maps with multiple robots in a sensor network.
AB - Path planning is a fundamental component of mobile robots. In case of large maps, path planning is a time consuming process, particularly for robots equipped with embedded computers and has adverse effects on the real-time response of the robots. This paper takes a fresh look at the path planning problem by considering it to be a caching or tabular-lookup problem. The robots 'cache' their generated paths and arm trajectories across various start and goal configurations. These cached paths are stored in a database accessible to robots in the network. Robot path planning is then reduced to a simple table-lookup which can be resolved in real-time. To overcome a cache-miss, a micro-grid and macro-grid based caching is proposed for real-time path generation for 'nearby' start and goal configurations. Another important characteristic of the proposed cache based path planning is that multiple robots also update the locations of the new obstacles in the map. This benefits other robots as they are able to get an updated information about the new obstacles in remote locations of the map, without explicitly discovering those obstacles by themselves. We show that by considering the robot path planning as a caching problem, robots can achieve faster and real-time responses, particularly in case of large maps with multiple robots in a sensor network.
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U2 - 10.1109/ICASI.2018.8394606
DO - 10.1109/ICASI.2018.8394606
M3 - Conference contribution
AN - SCOPUS:85050286966
T3 - Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
SP - 350
EP - 353
BT - Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
A2 - Lam, Artde Donald Kin-Tak
A2 - Prior, Stephen D.
A2 - Meen, Teen-Hang
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Applied System Innovation, ICASI 2018
Y2 - 13 April 2018 through 17 April 2018
ER -