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Multi-Robot Path Planning with Maintenance of Generalized Connectivity

Yoann Solana 1 Michele Furci 1 Juan Cortés 1 Antonio Franchi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper addresses the problem of generating a path for a fleet of robots navigating in a cluttered environment, while maintaining the so called generalized connectivity. The main challenge in the management of a group of robots is to ensure the coordination between them, taking into account limitations in communication range and sensors, possible obstacles, inter-robot avoidance and other constraints. The Generalized Connectivity Maintenance (GCM) theory already provides a way to represent and consider the aforementioned constraints, but previous works only find solutions via locally-steering functions that do not provide global and optimal solutions. In this work, we merge the GCM theory with randomized path-planning approaches, and local path optimization techniques to derive a tool that can provide global, good-quality paths. The proposed approach has been intensively tested and verified by mean of numerical simulations.
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Contributor : Antonio Franchi <>
Submitted on : Thursday, December 7, 2017 - 4:54:32 PM
Last modification on : Thursday, June 10, 2021 - 3:06:17 AM


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  • HAL Id : hal-01658557, version 1


Yoann Solana, Michele Furci, Juan Cortés, Antonio Franchi. Multi-Robot Path Planning with Maintenance of Generalized Connectivity. 2017 IEEE 1st International Symposium on Multi-Robot and Multi-Agent Systems, Dec 2017, Los Angeles, United States. ⟨hal-01658557⟩



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