Efficient dynamic programming for optimal multi-location robot rendezvous

Abstract

Abstract-We present an efficient dynamic programming algorithm to solve the problem of optimal multi-location robot rendezvous. The rendezvous problem considered can be structured as a tree, with each node representing a meeting of robots, and the algorithm computes optimal meeting locations and connecting robot trajectories. The tree structure is exploited by using dynamic programming to compute solutions in two passes through the tree: an upwards pass computing the cost of all potential solutions, and a downwards pass computing optimal trajectories and meeting locations. The correctness and efficiency of the algorithm are analyzed theoretically, while a continuous robot arm problem demonstrates the algorithm's practicality.

Minimal time delivery of multiple robots

“…One is defined in the space-state of one vehicle and the other two are defined in the state-space of the other vehicle. Alton and Mitchell formulated and solved a problem of sequential coordinated pick and place for multiple robotic arms using DP methods and an implementation of the fast marching method [2]. The pick and place points are also the rendezvous locations of the robotic arms involved in the operation.…”

“…For example, one generic motion pattern for multi-domain vehicles concerns iterated rendezvous operations, in which vehicles exchange commands and data to decide where and when the next rendezvous takes place [7]. This motion pattern encompasses a significant number of complex motion-planning problems, including, for example, re-fueling, marsupial transportation [5] and cooperative pick-and-place [2]. Most of these problems also involve complex operational constraints such as dynamic obstacles, time-varying winds or water currents, deadlines, etc.…”