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

Ng Fa Ho; Wen Xiong Liao

doi:10.1109/ICAL.2007.4339094

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

Ng Fa Ho^*, Wen Xiong Liao

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, η_f 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 c_f denotes the number of f^th kind of heterogeneous combinatorial point robots in the motion plan. The time complexity of this problem is proven to be O (Π_f=1^yη_f^2kn), where n = ∑_f=1^vc_f.

Original language	English
Title of host publication	Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
Pages	2988-2993
Number of pages	6
DOIs	https://doi.org/10.1109/ICAL.2007.4339094
Publication status	Published - 2007
Event	2007 IEEE International Conference on Automation and Logistics, ICAL 2007 - Jinan, China Duration: 2007 Aug 18 → 2007 Aug 21

Publication series

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

Conference

Conference	2007 IEEE International Conference on Automation and Logistics, ICAL 2007
Country/Territory	China
City	Jinan
Period	2007/08/18 → 2007/08/21

Keywords

Heterogeneous combinatorial robots
Motion planning
Time-varying environment

ASJC Scopus subject areas

Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICAL.2007.4339094

Cite this

Ho, N. F., & Liao, W. X. (2007). Motion planning algorithm for heterogeneous combinatorial robots in time-varying environment. In Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007 (pp. 2988-2993). Article 4339094 (Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007). https://doi.org/10.1109/ICAL.2007.4339094

Motion planning algorithm for heterogeneous combinatorial robots in time-varying environment. / Ho, Ng Fa; Liao, Wen Xiong.
Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007. 2007. p. 2988-2993 4339094 (Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ho, NF & Liao, WX 2007, Motion planning algorithm for heterogeneous combinatorial robots in time-varying environment. in Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007., 4339094, Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007, pp. 2988-2993, 2007 IEEE International Conference on Automation and Logistics, ICAL 2007, Jinan, China, 2007/08/18. https://doi.org/10.1109/ICAL.2007.4339094

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

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Keywords

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