The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Using a PRM planner to compare centralized and decoupled planning for multi-robot systems
Abstract
Describes experiments with a probabilistic roadmap planner (PRM) on a spot-welding station with 2 to 6 robot manipulators combining 12 to 36 degrees of freedom. When performing centralized planning, the planner has proven to be reliable and fast. When performing decoupled planning, it was not significantly faster, but it was much less reliable, failing to find a solution 30 to 75% of the times in 6-robot examples. This is an important result as it invalidates the assumption that the loss of completeness in performing decoupled planning is not very substantial in practice and indicates that centralized planning is a more desirable approach-at least in applications like spot-welding, which requires rather tight robot coordination.
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Cites
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
Kavraki, L. E., Svestka, P., Latombe, J.-C., & Overmars, M. H. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.508439 · Cited by 6,343
Self-citationOBBTree: a hierarchical structure for rapid interference detection
Gottschalk, S., Lin, M. C., & Manocha, D. (1996) · Proceedings of the 23rd annual conference on Computer graphics and interactive techniques · doi:10.1145/237170.237244 · Cited by 2,081
Cited by
A review of cooperative multi-agent deep reinforcement learning
Oroojlooy, A., & Hajinezhad, D. (2023) · Applied Intelligence · doi:10.1007/s10489-022-04105-y · Cited by 482
Metadata
- Authors
- Sanchez, G., & Latombe, J.-C.
- Venue
- Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
- Publisher
- IEEE
- Published
- 2003-06-25
- Volume
- 2
- Pages
- 2112-2119
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2133067819
- Cited by
- 189
- References
- 2
- FWCI
- 6.66
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Sanchez, G., & Latombe, J.-C. (2003). Using a PRM planner to compare centralized and decoupled planning for multi-robot systems. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). https://doi.org/10.1109/robot.2002.1014852
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