TY - GEN

T1 - Motion planning algorithm for heterogeneous combinatorial robots in time-varying environment

AU - Ho, Ng Fa

AU - Liao, Wen Xiong

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

KW - Heterogeneous combinatorial robots

KW - Motion planning

KW - Time-varying environment

UR - http://www.scopus.com/inward/record.url?scp=40649126999&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=40649126999&partnerID=8YFLogxK

U2 - 10.1109/ICAL.2007.4339094

DO - 10.1109/ICAL.2007.4339094

M3 - Conference contribution

AN - SCOPUS:40649126999

SN - 1424415314

SN - 9781424415311

T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007

SP - 2988

EP - 2993

BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007

T2 - 2007 IEEE International Conference on Automation and Logistics, ICAL 2007

Y2 - 18 August 2007 through 21 August 2007

ER -