论文标题
使用时空计划和负载转移对2D结构的重新配置
Reconfiguration of a 2D Structure Using Spatio-Temporal Planning and Load Transferring
论文作者
论文摘要
我们在重新配置合作机器人的2D安排建筑物材料方面的问题上提出了进展。这些机器人必须避免碰撞，僵局，并受到维持结构连通性的约束。我们开发了两种基于时空计划的重新配置方法，另一种基于目标交换，以提高建筑效率。与其他多机器人计划者相比，第一种方法可以大大减少计划时间。第二种方法有助于减少机器人花费的时间，等待清除路径，并由机器人传播的整体距离。
We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of the structure. We develop two reconfiguration methods, one based on spatio-temporal planning, and one based on target swapping, to increase building efficiency. The first method can significantly reduce planning times compared to other multi-robot planners. The second method helps to reduce the amount of time robots spend waiting for paths to be cleared, and the overall distance traveled by the robots.
