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 language | English |
|---|---|
| Title of host publication | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
| Pages | 1983-1988 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2005 |
| Event | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: Aug 2 2005 → Aug 6 2005 |
Other
| Other | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 |
|---|---|
| Country | Canada |
| City | Edmonton, AB |
| Period | 8/2/05 → 8/6/05 |
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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
Cite this
An asynchronous distributed routing system for muti-robot cooperative transportation. / Nishi, Tatsushi; Mori, Yoshitomi; Konishi, Masami; Imai, Jun.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 1983-1988 1545268.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
Y1 - 2005
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
SP - 1983
EP - 1988
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ER -