NUS CS5247 Using a PRM Planner to Compare Centralized Compare Centralized and Decoupled Planning and Decoupled Planning for Multi-Robot for Multi-Robot Systems Systems By Gildardo Sánchez and Jean-Claude By Gildardo Sánchez and Jean-Claude Latombe Latombe In Proc. IEEE Int. Conf. on In Proc. IEEE Int. Conf. on Robotics and Automation 2002 Robotics and Automation 2002 Presented by Melvin Zhang Presented by Melvin Zhang
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NUS CS5247 Using a PRM Planner to Compare Centralized and Decoupled Planning for Multi-Robot Systems By Gildardo Snchez and Jean-Claude Latombe In Proc.
NUS CS52473 Motivation Some industrial settings (spot welding) requires 4-10 robots with dof each Manual programming time consuming and error prone Multi robot planning can be classified as centralized decoupled Decoupled approach is prevalent, as lost of completeness is assumed to be small How valid is this statement?
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NUS CS5247
Using a PRM Planner to Using a PRM Planner to Compare Centralized Compare Centralized
and Decoupled and Decoupled Planning for Multi-Planning for Multi-
Robot SystemsRobot SystemsBy Gildardo Sánchez and Jean-Claude By Gildardo Sánchez and Jean-Claude
LatombeLatombeIn Proc. IEEE Int. Conf. on In Proc. IEEE Int. Conf. on
Robotics and Automation 2002 Robotics and Automation 2002
Presented by Melvin ZhangPresented by Melvin Zhang
Paths generated in first phase No coordinated solution found in second phase
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SBL planner Single-query
Roadmap is used to answer a single planning query Bi-directional
Grow a tree of milestones from both start and end configuration
Lazy in checking collision Avoid unnecessary collision checking on edges 4-40 times faster than classical single-query
bidirectional PRM planner
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Characteristics of SBL planner
Plot of number of failure vs max milestones allowed (S) Two thresholds Smin and Smax for a problem instance If (S < Smin) planner fails consistently If (S > Smax) planner succeeds consistently
Three problem instances, {PI, PII, PIII} Number of robots involved, {2, 4, 6} Number of runs
100 for C-SBL 20 for DG-SBL and DP-SBL
For each call to the SBL planner, at most 50,000 milestones are allowed
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Problem I
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Problem II
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Problem III
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Results – C-SBL Result for C-SBL
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Results – Failure rate
Rate of failure increases sharply for 4 and 6 robots Failure occurs during coordination Successful run of decoupled planner, no of milestones smaller than
50,000 -> failure due to incompleteness of decoupled approach