Safe Multirobot Navigation Within Dynamics Constraints In fast robot soccer games, teams play without any human input, avoiding collisions and obstacles and coordinating action to implement team strategy and tactics.
James Bruce, Manuela Veloso · 2006
This paper introduces a refinement of the classical sense-plan-act objective maximization method for setting agent goals, a real-time randomized path planner, a bounded accelerationmotioncontrol system, and a randomized velocity- space search for collision avoidance of multiple moving ro- botic agents. We have found this approach to work well for dynamic and unpredictable domains requiring real-time re- sponse and flexible coordination of multiple agents. First, the approach employs randomized search for objective maximi- zation and motion planning, allowing real-time or any-time performance. Next, a novel cooperative safety algorithm is employed which respects agent dynamics limitations while also preventing collisions with static obstacles or other partici- pating agents. An implementation of our multilayer approach has been tested and validated on real robots, forming the basis for an autonomous robotic soccer team.