Multirobot Navigation & Coordination

By | February 11, 2016

Through a series of projects, we have been investigating multirobot navigation and coordination. Such problems arise in a range of tasks including  search-rescue operations, construction, industrial applications, surveillance, team games, exploration and  unmanned vehicles.

Isomorphic Adjacency:  In many multirobot tasks, the goal is to realize a given planar topology. If all the robots are identical, then we have shown the problem can be expressed as finding an isomorphic adjacency matrix.  We have then presented a new approach to solving the resulting combinatorial problem as consisting of two stages.

D. Şenel, H. I. Bozma, and F. Öztürk, “Finding optimal isomorphic goal adjacency,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 4650-4655. 

For more info, pls contact Deniz Şenel.

Coordinated realization:  Coordinated realization arises when the robots are required to move to a set of  positions that are specified by their relative positions only. In this project, our goal is to develop a systematic approach than enables coordinated realization.

Coordinated navigation:    Coordinated navigation arises when the robots are required to move to given local locations. We have constructed an essential navigation function that guarantees collision-free motion of each robot to its destination from almost all initial free placements.

S. C. Karagoz, H. I. Bozma, and D. E. Koditschek, “Coordinated navigation of multiple independent disk-shaped robots,” IEEE Transactions on Robotics, vol. 30, iss. 6, pp. 1289-1304, 2014.