Report
Reconfiguration of a 2D Structure Using Spatio-Temporal Planning and Load Transferring
| العنوان: | Reconfiguration of a 2D Structure Using Spatio-Temporal Planning and Load Transferring |
|---|---|
| المؤلفون: | Garcia, Javier, Yannuzzi, Michael, Kramer, Peter, Rieck, Christian, Fekete, Sándor P., Becker, Aaron T. |
| سنة النشر: | 2022 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Computer Science - Computational Geometry |
| الوصف: | We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of the structure. We develop two reconfiguration methods, one based on spatio-temporal planning, and one based on target swapping, to increase building efficiency. The first method can significantly reduce planning times compared to other multi-robot planners. The second method helps to reduce the amount of time robots spend waiting for paths to be cleared, and the overall distance traveled by the robots. Comment: seven pages, eight figures, one table; revised version; to appear in the proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2211.09198 |
| رقم الانضمام: | edsarx.2211.09198 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |