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Author, Editor

Author(s):

Hert, Susan
Richards, Brad

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Not MPG Author(s):

Richards, Brad

Editor(s):

Christensen, Henrik
Hager, Greg

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dblp

Not MPII Editor(s):

Christensen, Henrik
Hager, Greg

BibTeX cite key*:

hr-mrmpipppg-01

Title, Booktitle

Title*:

Multiple Robot Motion Planning = Parallel Processing + Geometry

Booktitle*:

Sensor Based Intelligent Robots

Event, URLs

URL of the conference:


URL for downloading the paper:


Event Address*:

Schloss Dagstuhl, Wadern, Germany

Language:

English

Event Date*
(no longer used):

-- October 15 - 20, 2000

Organization:


Event Start Date:

15 October 2000

Event End Date:

20 October 2000

Publisher

Name*:

Springer

URL:

http://www.springer.de/

Address*:

Berlin, Germany

Type:


Vol, No, Year, pp.

Series:

Lecture Notes in Computer Science

Volume:

2238

Number:


Month:

November

Pages:

183-205

Year*:

2002

VG Wort Pages:


ISBN/ISSN:


Sequence Number:


DOI:




Note, Abstract, ©


(LaTeX) Abstract:

We present two problems in multiple-robot motion planning that can be quite
naturally solved using techniques from the parallel processing community to
dictate how the robots interact with each other and techniques from
computational geometry to apply these techniques in the geometric environment
in which the robots operate. The first problem we consider is a load-balancing
problem in which a pool of work must be divided among a set of
processors in order to minimize the amount of time required to complete all
the work. We describe a simple polygon partitioning algorithm that allows
techniques from parallel processor scheduling to be applied in the
multiple-robot setting in order to achieve a good balance of the work.
The second problem is that of collision avoidance, where one must avoid that
two (or more) processors occupy the same resource at the same time.
For this problem, we describe a procedure for robot interaction that is
derived from procedures used to shared-memory computers along with a geometric
data structure that can efficiently determine when there are potential
robot collisions.

Keywords:

motion planning, multiple robots, load balancing, geometry, polygon partitioning



Download
Access Level:

Public

Correlation

MPG Unit:

Max-Planck-Institut für Informatik



MPG Subunit:

Algorithms and Complexity Group

Audience:

Expert

Appearance:

MPII WWW Server, MPII FTP Server, MPG publications list, university publications list, working group publication list, Fachbeirat, VG Wort



BibTeX Entry:

@INPROCEEDINGS{hr-mrmpipppg-01,
AUTHOR = {Hert, Susan and Richards, Brad},
EDITOR = {Christensen, Henrik and Hager, Greg},
TITLE = {Multiple Robot Motion Planning = Parallel Processing + Geometry},
BOOKTITLE = {Sensor Based Intelligent Robots},
PUBLISHER = {Springer},
YEAR = {2002},
VOLUME = {2238},
PAGES = {183--205},
SERIES = {Lecture Notes in Computer Science},
ADDRESS = {Schloss Dagstuhl, Wadern, Germany},
MONTH = {November},
}


Entry last modified by Christine Kiesel, 03/02/2010
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Editor(s)
Susan Hert
Created
08/02/2001 09:50:06 AM
Revisions
5.
4.
3.
2.
1.
Editor(s)
Christine Kiesel
Anja Becker
Susan Hert
Susan Hert
Susan Hert
Edit Dates
27.08.2003 16:57:19
08.04.2002 15:01:02
17/01/2002 09:53:24
05/09/2001 15:30:39
02/08/2001 10:00:30
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