An asynchronous distributed routing system for muti-robot cooperative transportation

Tatsushi Nishi, Yoshitomi Mori, Masami Konishi, Jun Imai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1983-1988
Number of pages6
DOIs
Publication statusPublished - Dec 1 2005
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: Aug 2 2005Aug 6 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period8/2/058/6/05

Keywords

  • Asynchronous data exchanging
  • Constrained optimization
  • Cooperative transportation
  • Distributed routing
  • Multi-robot system

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Nishi, T., Mori, Y., Konishi, M., & Imai, J. (2005). An asynchronous distributed routing system for muti-robot cooperative transportation. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1983-1988). [1545268] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545268