Motion planning algorithm for heterogeneous combinatorial robots in time-varying environment

Ng Fa Ho*, Wen Xiong Liao

*Corresponding author for this work

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

1 Citation (Scopus)

Abstract

This paper presents a novel solution to a motion planning problem of heterogeneous combinatorial point robots in a time-varying environment, involving some properties and an algorithm. These combinatorial point robots can be combined and separated freely during moving. The problem that is proven to be compliant to the principle of optimality in a time-varying environment can be solved using dynamic programming algorithms. Assume that y denotes the number of kinds of heterogeneous combinatorial point robots, ηf represents the maximum number of vertices of the time-varying graph, k denotes the number of steps, n denotes the total number of all robots, and cf denotes the number of fth kind of heterogeneous combinatorial point robots in the motion plan. The time complexity of this problem is proven to be O (Πf=1yηf2kn), where n = ∑f=1vcf.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
Pages2988-2993
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Automation and Logistics, ICAL 2007 - Jinan, China
Duration: 2007 Aug 182007 Aug 21

Publication series

NameProceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007

Conference

Conference2007 IEEE International Conference on Automation and Logistics, ICAL 2007
Country/TerritoryChina
CityJinan
Period2007/08/182007/08/21

Keywords

  • Heterogeneous combinatorial robots
  • Motion planning
  • Time-varying environment

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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