A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. The framework is applicable to both planetary rover and free-floating space robot applications. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information becomes available to all robots in this network. With this new information, each robot uses a fast, centralized planner to compute new coordinated trajectories on the fly. Planning over multiple robot networks is decentralized and distributed. The applicability of the framework to planetary rovers is demonstrated in both simulations and real robot experiments. Also, the framework’s applicability to free-floating robots in a 3D space environment is demonstrated in simulation.


Computer Sciences

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Proceedings also available online at http://www.esa.int/TEC/Robotics/SEMMBJC4VUE_0.html.



URL: http://digitalcommons.calpoly.edu/csse_fac/78