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Robotics, AI and Automation Projects >>
Distributed Optimization with Application to Multi-robot Path Planning
Jan 29, 2010


This project is under progress. Updates will be posted as they become available.

Publications

  1. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Third Annual Symposium on Combinatorial Search. Atlanta, Georgia, 8-10 July, 2010. (BibTeX)
    [   Addendum  |  PDF extended abstract  |  Poster  |  Project Page  |  See AAAI paper with same title for more details  |  See more recent work with significant developments  |  See the related AURO'12 paper  ]
  2. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, Georgia, 11-15 July, 2010. (BibTeX)
    [   Addendum  |  PDF  |  PPT Presentation  |  Project Page  |  MATLAB code for uniformly discretized environment  |  MATLAB code for visibility graph  |  C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost)  ]
  3. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning", In Proceedings of Robotics: Science and Systems. Zaragoza, Spain, MIT Press, 27-30 June, 2010. (BibTeX)
  4. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Multi-agent Path Planning with Multiple Tasks and Distance Constraints", In Proceedings of IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, 3-8 May, 2010. (BibTeX)

Technical Report and Paper

  1. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Distributed Path Consensus Algorithm", Technical Report, University of Pennsylvania, 2010. (BibTeX)

Presentation

  1. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning", In Proceedings of Robotics: Science and Systems., 2010. (BibTeX)
  2. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, Georgia, July, 2010. (BibTeX)
  3. Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints", In Proceedings of The Twenty-Fourth AAAI Conference on Artificial Intelligence. Atlanta, Georgia, July, 2010. (BibTeX)
  4. Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Multi-agent Path Planning with Multiple Tasks and Distance Constraints", In IEEE International Conference on Robotics and Automation (ICRA). Anchorage, Alaska, 3-8 May, 2010. (BibTeX)

Movies:

  1. Three robots executing plans in L457 with extended rendezvous: AVI movie (71.9 MB)
  2. Two robots executing plans in L457 with tasks and rendezvous constraints: M2V movie (plays in VLC) (82.1 MB)
  3. Two robots (one areal and one ground) modify their trajectories to rendezvous inside the tunnel: AVI movie (3.82 MB)
  4. Four robots plan in X-Y-Z-time to perform complex coordination and information exchange tasks: M2V movie (plays in VLC) (46.7 MB)

Code

  1. Codes related to implementation and demonstration of Homotopy Class constraints
    1. MATLAB code for uniformly discretized environment
    2. MATLAB code for visibility graph
    3. C++ code (planning with homotopy class constraints & homotopy class exploration with dynamic obstacles & non-Euclidean cost)
  2. Distributed Path Planning code - MATLAB code for the exact implementation

Research Projects

Page last modified on April 27, 2015, at 02:39 PM EST.
(cc) Subhrajit Bhattacharya