Parallel Task Planning for Multi-Robot Coordination

Parallel Task Planning for Multi-Robot Coordination

Title: Parallel Task Planning for Multi-Robot Coordination
Authors: Bidan Huang (Hamlyn Centre for Robotic Surgery, Imperial College London); Yiming Yang (Hamlyn Centre for Robotic Surgery, Imperial College London); Guang-Zhong Yang (Hamlyn Centre for Robotic Surgery, Imperial College London);
Year: 2018
Citation: Huang, B., Yang, Y., Yang, G., (2018). Parallel Task Planning for Multi-Robot Coordination. UK-RAS Conference: ‘Robots Working For & Among Us’ Proceedings, 7-9.

https://doi.org/10.31256/UKRAS17.3

Abstract:

This paper presents a framework for task planning of multi-robot cooperation. A task is firstly demonstrated by a human. After extracting the subtasks from human demonstration, a critical path analysis is employed to optimize the timing of the subtasks of each robot. A customized sampling-based planning method is used to generate collision free paths. Preliminary experimental results show that by using this method, the multi-robot system can coordinate with high efficiency and be free from collisions. The proposed approach is generalizable to other manipulation tasks, where bimanual or multi-robot cooperation is required.

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