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@inproceedings{saha-iccps16,
author = {Indranil Saha and Rattanachai Ramaithitima and Vijay Kumar and George J. Pappas and Sanjit A. Seshia},
title = {Implan: Scalable Incremental Motion Planning for Multi-Robot Systems},
booktitle = {Proceedings of the 7th International Conference on Cyber-Physical Systems (ICCPS)},
OPTpages = "22--31",
month = "April",
year = {2016},
abstract = {We consider the collision-free motion planning problem
for a group of robots using a library of motion primitives.
To cope with the complexity of the problem, we introduce an
incremental algorithm based on an SMT solver, where we divide
the robots into small groups based on a priority assignment
algorithm. The priority assignment algorithm assigns priorities
to the robots in such a way that the robots do not block the
cost-optimal trajectories of the other robots. While the priority
assignment algorithm attempts to assign distinct priorities to the
robots, the algorithm ends up with assigning the same priority
to some robots due to the dependencies among themselves. The
algorithm includes the robots with the same priority in the
same group. Our incremental algorithm then considers the robot
groups one by one based on their priority and synthesizes the trajectories
for the group of robots together. While synthesizing the
trajectories for the robots in one group, the algorithm considers
the higher priority robots as dynamic obstacles, and introduces a
minimal delay in executing the cost-optimal trajectories to avoid
collision with the higher priority robots. We apply our method to
synthesize trajectories for a group of quadrotors in our lab space.
Experimental results show that we can synthesize trajectories for
tens of robots with complex dynamics in a reasonable time.},
}