Sampling based Mission Planning

for Multiple Robots

Rahul Kala
Publication of paper: R. Kala (2016) Sampling based mission planning for multiple robots. In Proceedings of
the 2016 IEEE Congress on Evolutionary Computation, Vancouver, BC, Canada, pp. 662-669.

IIIT Allahabad

rkala.in

25th July, 2016

Mission Planning

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Sampling based Mission Planning for Multiple Robots

rkala.in

Mission Specification

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Sampling based Mission Planning for Multiple Robots

rkala.in

Roadmap Generation

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Sampling based Mission Planning for Multiple Robots

rkala.in

Mission

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Sampling based Mission Planning for Multiple Robots

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Paths Traversed

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Sampling based Mission Planning for Multiple Robots

rkala.in

Overall Approach
Mission Specification

Map

Probabilistic
Roadmap

Roadmap

A*
Search

Cost Matrix
Fuzzy
Navigator

Mission

Optimization
Genetic
Algorithm

Local
Search

Trajectory
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Sampling based Mission Planning for Multiple Robots

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Roadmap Generation

Vertices

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Edges

Sampling based Mission Planning for Multiple Robots

Cost
Matrix

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Roadmap Generation

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Sampling based Mission Planning for Multiple Robots

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Multi-Robot Mission Planning

Multi-Robot Mission
Planning with Preferences

Multi-Robot Mission
Planning

Sight
Assignment
Sight
Ordering

Single Robot Mission

Planning

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Sampling based Mission Planning for Multiple Robots

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Multi-Robot Mission Planning

Genetic Individual
1
4
2
3
0.1 0.8 0.9 0.4
|()|
j (8)
(8)

L1
3
1
1

L4
1
1
3

M() (9)
1 (S1, L1, L3)
2 (S2)
3 (S3, L4, L2)
Total (7)

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L2
2
2
3

L1
L2
L3
L4

(L)
1, 2, 3
2, 3
1, 2
3

|(L)|
3
2
2
1

L3
2
1
1

||M()|| (6)
5+6=11
0
1+7=8
19

||||
S1
S2
S3
L1
L2
L3
L4

L1
5
8
2
0
5
6
4

L2
4
6
3
5
0
12
7

L3
4
5
4
6
12
0
8

L4
3
4
1
4
7
8
0

Sampling based Mission Planning for Multiple Robots

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Multi-Robot Mission Planning

Genetic
Algorithm

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Local Search

Sampling based Mission Planning for Multiple Robots

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Navigation Using Fuzzy Logic

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Sampling based Mission Planning for Multiple Robots

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Hybrid Deliberative and Reactive Planning

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Sampling based Mission Planning for Multiple Robots

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Scenario 2

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Sampling based Mission Planning for Multiple Robots

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Scenario 3

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Sampling based Mission Planning for Multiple Robots

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Results

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Sampling based Mission Planning for Multiple Robots

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Roadmap Construction

Computation Time
(sec)

Computation Time
(sec)

Computation Time before Optimization

6
4
2
0

35
30
25
20

100
200
Number of Vertices

Computation Time
(sec)

40

100
200
Number of Vertices

Total

35
30
25
20

0
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Cost Matrix Computation

40

100
200
Number of Vertices

Sampling based Mission Planning for Multiple Robots

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120
100
80
60
40
20
0
0

100
200
Number of Vertices 650
Path Length

Percentage of Paths
Possible to Construct

Roadmap Size

600
550
500
450
400
45

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145
245
Number of Vertices

Sampling based Mission Planning for Multiple Robots

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Optimization
6000
Best Cost

Cost

5000
Mean Cost

4000
3000
2000

Local Optimization

101
201
Iterations

Global Optimization

Cost

7000
6000
5000
4000
3000
2000
1

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201
401
601
Number of Iterations

Sampling based Mission Planning for Multiple Robots

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Scalability
Computation Time
(secs)

100

Time to
compute cost
matrix
Time of
Optimization

75

50
25

Total Time
10 15 20 25
Number of Targets

Best Cost

2500
2000
1500
1000
500
0
5

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10
15
20
Number of Targets

Sampling based Mission Planning for Multiple Robots

25
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Scalability
Computation Time
(sec)

100

Time to
compute cost
matrix
Time of
Optimization

75
50
25

Total Time

Best Cost

1 2 3 4 5 6
Number of Robots
2200
2000
1800
1
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2
3
4
5
Number of Robots

Sampling based Mission Planning for Multiple Robots

6
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IIIT Allahabad

Sampling based Mission Planning for Multiple Robots

rkala.in