Using a PRM planner to compare centralized and decoupled planning for multi-robot systems

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 signif...

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Bibliographic Details
Published in:Proceedings - IEEE International Conference on Robotics and Automation 2002, Vol.2, p.2112-2119 vol.2
Main Authors: Sanchez, G., Latombe, J.-C.
Format: Article
Language:English
Subjects:
Bidirectional control
Clamps
Computer science
Manipulators
Motion planning
Multirobot systems
Orbital robotics
Path planning
Robot kinematics
Welding
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Summary: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.
ISSN:1050-4729
DOI:10.1109/ROBOT.2002.1014852