Scalable path and time coordination for robot formation

Hoon Sung Chwa; Andrii Shyshkalov; Kilho Lee; Insik Shin

doi:10.1109/CPSNA.2014.23

Scalable path and time coordination for robot formation

Hoon Sung Chwa, Andrii Shyshkalov, Kilho Lee, Insik Shin

Department of Electrical Engineering and Computer Science

Korea Advanced Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we consider several CPS challenges (e.g., responsiveness, scalability, adaptability) in multi-robot formation. In general, the response time of multi-robot formation task involves two parts: the computation time for path and time coordination to avoid any collision among robots and the actuation time for the control of the robots to actually move to their destinations. In terms of responsiveness, a shorter response time provides a higher quality of responsiveness. However, it is complicated to reduce the response time since reducing computation time and reducing robot actuation time are conflicting objectives, and such a trade-off varies over environment. We present a scalable optimization framework that explores such a trade-off dynamically and exploits it in a feedback manner to find efficient trajectory schedules. Our simulation results show that our framework successfully finds a shorter response time by adapting to various environments compared to a commercial optimization tool, and it is scalable for a large number of robots.

Original language	English
Title of host publication	Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	65-70
Number of pages	6
ISBN (Electronic)	9781479953875
DOIs	https://doi.org/10.1109/CPSNA.2014.23
State	Published - 18 Nov 2014
Event	2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014 - Hong Kong, China Duration: 25 Aug 2014 → 26 Aug 2014

Publication series

Name	Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014

Conference

Conference	2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014
Country/Territory	China
City	Hong Kong
Period	25/08/14 → 26/08/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

Access to Document

10.1109/CPSNA.2014.23

Cite this

Chwa, H. S., Shyshkalov, A., Lee, K., & Shin, I. (2014). Scalable path and time coordination for robot formation. In Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014 (pp. 65-70). Article 6961245 (Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CPSNA.2014.23

Chwa, Hoon Sung ; Shyshkalov, Andrii ; Lee, Kilho et al. / Scalable path and time coordination for robot formation. Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 65-70 (Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014).

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abstract = "In this paper, we consider several CPS challenges (e.g., responsiveness, scalability, adaptability) in multi-robot formation. In general, the response time of multi-robot formation task involves two parts: the computation time for path and time coordination to avoid any collision among robots and the actuation time for the control of the robots to actually move to their destinations. In terms of responsiveness, a shorter response time provides a higher quality of responsiveness. However, it is complicated to reduce the response time since reducing computation time and reducing robot actuation time are conflicting objectives, and such a trade-off varies over environment. We present a scalable optimization framework that explores such a trade-off dynamically and exploits it in a feedback manner to find efficient trajectory schedules. Our simulation results show that our framework successfully finds a shorter response time by adapting to various environments compared to a commercial optimization tool, and it is scalable for a large number of robots.",

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Chwa, HS, Shyshkalov, A, Lee, K & Shin, I 2014, Scalable path and time coordination for robot formation. in Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014., 6961245, Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014, Institute of Electrical and Electronics Engineers Inc., pp. 65-70, 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014, Hong Kong, China, 25/08/14. https://doi.org/10.1109/CPSNA.2014.23

Scalable path and time coordination for robot formation. / Chwa, Hoon Sung; Shyshkalov, Andrii; Lee, Kilho et al.
Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 65-70 6961245 (Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, we consider several CPS challenges (e.g., responsiveness, scalability, adaptability) in multi-robot formation. In general, the response time of multi-robot formation task involves two parts: the computation time for path and time coordination to avoid any collision among robots and the actuation time for the control of the robots to actually move to their destinations. In terms of responsiveness, a shorter response time provides a higher quality of responsiveness. However, it is complicated to reduce the response time since reducing computation time and reducing robot actuation time are conflicting objectives, and such a trade-off varies over environment. We present a scalable optimization framework that explores such a trade-off dynamically and exploits it in a feedback manner to find efficient trajectory schedules. Our simulation results show that our framework successfully finds a shorter response time by adapting to various environments compared to a commercial optimization tool, and it is scalable for a large number of robots.

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Chwa HS, Shyshkalov A, Lee K, Shin I. Scalable path and time coordination for robot formation. In Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 65-70. 6961245. (Proceedings - 2nd IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, CPSNA 2014). doi: 10.1109/CPSNA.2014.23

Scalable path and time coordination for robot formation

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