Collective motion planning for a group of robots using intermittent diffusion

DOI10.1007/S10915-021-01700-YMaRDI QIDQ2053372zbMATH OpenOpenAlexFDO

Authors Christina Frederick, Magnus Egerstedt, Haomin Zhou

Publication date 29 November 2021

Published in Journal of Scientific Computing (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1904.02804

zbMATH Keywords

optimal transportmulti-agent systemspath planningintermittent diffusion

Mathematics Subject Classification ID

Optimal transportation (49Q22) Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) (68T20) Numerical solutions to stochastic differential and integral equations (65C30) Artificial intelligence for robotics (68T40) Agent technology and artificial intelligence (68T42)

Abstract: In this work we establish a simple yet effective strategy, based on optimal transport theory, for enabling a group of robots to accomplish complex tasks, such as shape formation and assembly. We demonstrate the feasibility of this approach and rigorously prove collision avoidance and convergence properties of the proposed algorithms.

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Cited in

(1)

• Adaptive state-dependent diffusion for derivative-free optimization

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