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 -