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Behavior and Path Planning for the Coalition of Cognitive Robots in Smart Relocation Tasks

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Robot Intelligence Technology and Applications 4

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 447))

Abstract

In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location. The latter is originally unreachable for some members of the coalition, but the common task still can be accomplished as the agents can assist each other (e.g., by modifying the environment). We call such tasks smart relocation tasks (as they cannot be solved by pure path planning methods) and study spatial and behavior interaction of robots while solving them. We use cognitive approach and introduce semiotic knowledge representation—sign world model which underlines behavioral planning methodology. Planning is viewed as a recursive search process in the hierarchical state-space induced by sings with path planning signs residing on the lowest level. Reaching this level triggers path planning which is accomplished by state-of-the-art grid-based planners focused on producing smooth paths (e.g., LIAN) and thus indirectly guarantying feasibility of that paths against agent’s dynamic constraints.

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Acknowledgments

The reported study was supported by RFBR, research projects No. 14-07-31194 and No. 15-37-20893.

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Authors and Affiliations

  1. Federal Research Center “Computer Science and Control” of RAS, pr. 60-letiya Octyabrya 9, 117312, Moscow, Russia

    Aleksandr I. Panov & Konstantin Yakovlev

Authors
  1. Aleksandr I. Panov
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  2. Konstantin Yakovlev
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Corresponding author

Correspondence to Aleksandr I. Panov .

Editor information

Editors and Affiliations

  1. Electrical Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario, Canada

    Fakhri Karray

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Queensland, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Hyun Myung

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Panov, A.I., Yakovlev, K. (2017). Behavior and Path Planning for the Coalition of Cognitive Robots in Smart Relocation Tasks. In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_1

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  • DOI: https://doi.org/10.1007/978-3-319-31293-4_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31291-0

  • Online ISBN: 978-3-319-31293-4

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