Spatio-temporal multi-robot routing

• Smriti Chopra ^[1] ; Magnus Egerstedt ^[2]
  1. [1] Georgia Institute of Technology

     Georgia Institute of Technology

     Estados Unidos

     
  2. [2] Institute of Technology, Atlanta, USA
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 60, 2015, págs. 173-181
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • In this paper, we consider the problem of routing multiple robots to service spatially distributed requests at specified time instants. We show that such a routing problem can be formulated as a pure assignment problem. Additionally, we incorporate connectivity constraints into the problem by requiring that range-constrained robots ensure a connected information exchange network at all times. We discuss the feasibility aspects of such a spatio-temporal routing problem, and derive the minimum number of robots required to service the requests. Moreover, we explicitly construct the corresponding routes for the robots, with the total length traveled as the cost to be minimized.