Multirobot plan generation in a continuous domain: planning by use of plan graph and avoiding collisions among robots

Abstract

A robot plan-generation system is described that treats continuous state changes over time for multiple robots. A model for a continuous domain is represented, and a parallel plant-generation system, based on production rules for multiple robots in this domain, is proposed. The system consists of a fundamental planning subsystem for multiple robots and a subsystem for detecting and avoiding mutual collisions of cylindrical-type robots, called PLAMAT and SYDAMUC, respectively. In addition to examples for each subsystem, an assembly problem is solved as an example for the total plan-generation system, and the usefulness of the system is confirmed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>