Simultaneous Path Planning and Task Allocation in Dynamic Environments
This paper addresses the challenge of coordinating task allocation and generating collision-free trajectories for a fleet of mobile robots in dynamic environments. Our approach introduces an integrated framework comprising a centralized task allocation system and a distributed trajectory planner. Th...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-02-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/14/2/17 |
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| author | Jennifer David Rafael Valencia |
| author_facet | Jennifer David Rafael Valencia |
| author_sort | Jennifer David |
| collection | DOAJ |
| description | This paper addresses the challenge of coordinating task allocation and generating collision-free trajectories for a fleet of mobile robots in dynamic environments. Our approach introduces an integrated framework comprising a centralized task allocation system and a distributed trajectory planner. The centralized task allocation system, employing a heuristic approach, aims to minimize the maximum spatial cost among the slowest robots. Tasks and trajectories are continuously refined using a distributed version of CHOMP (Covariant Hamiltonian Optimization for Motion Planning), tailored for multiple-wheeled mobile robots where the spatial costs are derived from a high-level global path planner. By employing this combined methodology, we are able to achieve near-optimal solutions and collision-free trajectories with computational performance for up to 50 robots within seconds. |
| format | Article |
| id | doaj-art-e6e41f86a321498fbd3ee0ec6e8643f2 |
| institution | OA Journals |
| issn | 2218-6581 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-e6e41f86a321498fbd3ee0ec6e8643f22025-08-20T02:04:07ZengMDPI AGRobotics2218-65812025-02-011421710.3390/robotics14020017Simultaneous Path Planning and Task Allocation in Dynamic EnvironmentsJennifer David0Rafael Valencia1Center for Applied Intelligent Systems Research, School of ITE, Halmstad University, SE-30118 Halmstad, SwedenCenter for Applied Intelligent Systems Research, School of ITE, Halmstad University, SE-30118 Halmstad, SwedenThis paper addresses the challenge of coordinating task allocation and generating collision-free trajectories for a fleet of mobile robots in dynamic environments. Our approach introduces an integrated framework comprising a centralized task allocation system and a distributed trajectory planner. The centralized task allocation system, employing a heuristic approach, aims to minimize the maximum spatial cost among the slowest robots. Tasks and trajectories are continuously refined using a distributed version of CHOMP (Covariant Hamiltonian Optimization for Motion Planning), tailored for multiple-wheeled mobile robots where the spatial costs are derived from a high-level global path planner. By employing this combined methodology, we are able to achieve near-optimal solutions and collision-free trajectories with computational performance for up to 50 robots within seconds.https://www.mdpi.com/2218-6581/14/2/17task allocationtrajectory plannerpath conflicts |
| spellingShingle | Jennifer David Rafael Valencia Simultaneous Path Planning and Task Allocation in Dynamic Environments Robotics task allocation trajectory planner path conflicts |
| title | Simultaneous Path Planning and Task Allocation in Dynamic Environments |
| title_full | Simultaneous Path Planning and Task Allocation in Dynamic Environments |
| title_fullStr | Simultaneous Path Planning and Task Allocation in Dynamic Environments |
| title_full_unstemmed | Simultaneous Path Planning and Task Allocation in Dynamic Environments |
| title_short | Simultaneous Path Planning and Task Allocation in Dynamic Environments |
| title_sort | simultaneous path planning and task allocation in dynamic environments |
| topic | task allocation trajectory planner path conflicts |
| url | https://www.mdpi.com/2218-6581/14/2/17 |
| work_keys_str_mv | AT jenniferdavid simultaneouspathplanningandtaskallocationindynamicenvironments AT rafaelvalencia simultaneouspathplanningandtaskallocationindynamicenvironments |