CRH*: A Deadlock Free Framework for Scalable Prioritised Path Planning in Multi-Robot Systems

Heselden, James and Das, Gautham (2022) CRH*: A Deadlock Free Framework for Scalable Prioritised Path Planning in Multi-Robot Systems. In: Towards Autonomous Robotic Systems Conference, 8th-10th September 2021, Lincoln, UK.

Full content URL: https://lcas.lincoln.ac.uk/wp/wp-content/uploads/2...

Documents
CRH*: A Deadlock Free Framework for Scalable Prioritised Path Planning in Multi-Robot Systems
[img]
[Download]
[img]
Preview
PDF
TAROS2021paper28.pdf - Whole Document

400kB
Item Type:Conference or Workshop contribution (Presentation)
Item Status:Live Archive

Abstract

Multi-robot system is an ever growing tool which is able to be applied to a wide range of industries to improve productivity and robustness, especially when tasks are distributed in space, time and functionality. Recent works have shown the benefits of multi-robot systems in fields such as warehouse automation, entertainment and agriculture. The work presented in this paper tackles the deadlock problem in multi-robot navigation, in which robots within a common work-space, are caught in situations where they are unable to navigate to their targets, being blocked by one another. This problem can be mitigated by efficient multi-robot path planning. Our work focused around the development of a scalable rescheduling algorithm named Conflict Resolution Heuristic A* (CRH*) for decoupled prioritised planning. Extensive experimental evaluation of CRH* was carried out in discrete event simulations of a fleet of autonomous agricultural robots. The results from these experiments proved that the algorithm was both scalable and deadlock-free. Additionally, novel customisation options were included to test further optimisations in system performance. Continuous Assignment and Dynamic Scoring showed to reduce the make-span of the routing whilst Combinatorial Heuristics showed to reduce the impact of outliers on priority orderings.

Keywords:Multi-robot path planning, Prioritised planning, Decoupled path planning, A*, Reservation tables
Subjects:G Mathematical and Computer Sciences > G900 Others in Mathematical and Computing Sciences
Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:46453
Deposited On:13 Sep 2021 11:01

Repository Staff Only: item control page