Unsynchronized Distributed Motion Planning withSafety Guarantees under Second-Order Dynamics

[摘要] Robots are increasingly found to operate together in the same environment where theymust coordinate their motion. Such an operation is simple if the motion is quasi-static.Under second-order dynamics, the problem becomes challenging even for a known environment.Planning must guarantee safety by ensuring collision-free paths for the consideredperiod by not bringing the robot to states where collisions are inevitable. This can beaddressed with communication among robots, but it becomes complicated when the replanningcycles of different robots are not synchronized and robots make planning decisions atdifferent times. This thesis shows how to guarantee safety for communicating second-ordervehicles, whose replanning rates do not coincide, through a distributed motion planningframework without a global time reference. The method is evaluated through simulationwhere each robot has its own address space, and communicates with message passing. Aproof of safety is presented, and simulation results are used to investigate performance ofthe framework.

[发布机构] Rice University

[效力级别] science