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Proceedings Article, Paper
@InProceedings
Beitrag in Tagungsband, Workshop

Author, Editor
Author(s):
Hert, Susan
Richards, Brad		dblp
dblp
Not MPG Author(s):
Richards, Brad
Editor(s):
Christensen, Henrik
Hager, Greg		dblp
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
Conference URL::
Downloading URL:
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
Hide details for Edit History (please click the blue arrow to see the details)Edit History (please click the blue arrow to see the details)

Editor(s)
Susan Hert		Created
08/02/2001 09:50:06
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