TY - GEN
T1 - An asynchronous distributed routing system for muti-robot cooperative transportation
AU - Nishi, Tatsushi
AU - Mori, Yoshitomi
AU - Konishi, Masami
AU - Imai, Jun
PY - 2005/12/1
Y1 - 2005/12/1
N2 - We propose a distributed routing system for multi-robot cooperative transportation by parallel multiple processors with an asynchronous data exchanging. In the proposed method, each robot generates a routing to minimize each objective function comprising of traveling time and the penalty for violating constraints of cooperation with other robots. A near optimal routing is generated by repeating the generation of each routing and data exchanging among the robots. The asynchronous data exchanging is adopted to reduce the computation time. In order the solution not to be trapped in a local optimum, the weighting factors violating the constraints are updated with a time-dependent method during parallel computation. The proposed method is applied to a motion planning for cooperative transportation of an experimental 4 real robots system. The effectiveness of the proposed method is investigated on various types of experimental conditions.
AB - We propose a distributed routing system for multi-robot cooperative transportation by parallel multiple processors with an asynchronous data exchanging. In the proposed method, each robot generates a routing to minimize each objective function comprising of traveling time and the penalty for violating constraints of cooperation with other robots. A near optimal routing is generated by repeating the generation of each routing and data exchanging among the robots. The asynchronous data exchanging is adopted to reduce the computation time. In order the solution not to be trapped in a local optimum, the weighting factors violating the constraints are updated with a time-dependent method during parallel computation. The proposed method is applied to a motion planning for cooperative transportation of an experimental 4 real robots system. The effectiveness of the proposed method is investigated on various types of experimental conditions.
KW - Asynchronous data exchanging
KW - Constrained optimization
KW - Cooperative transportation
KW - Distributed routing
KW - Multi-robot system
UR - http://www.scopus.com/inward/record.url?scp=34547177438&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34547177438&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545268
DO - 10.1109/IROS.2005.1545268
M3 - Conference contribution
AN - SCOPUS:34547177438
SN - 0780389123
SN - 9780780389120
T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 1983
EP - 1988
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Y2 - 2 August 2005 through 6 August 2005
ER -