Physical Path Planning Using the GNATs

— We continue our investigation into the application of pervasive, embedded networks to support multi-robot tasks. In this work we use a new a hardware platform, the GNATs, to aid in path planning. We have implemented a physical path planning algorithm on the GNATs previously studied in simulation. A distributed version of the wavefront path planning algorithm is used to propagate paths throughout the network, thereby planning a path in the real world. This creates a graph of traversable paths that are nearly optimal in a dynamic environment.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Keith J. O'Hara, Victor Bigio, Eric R. Dodson, Arya Irani, Daniel Walker, Tucker R. Balch
• Keywords: ICRA 2005, Path Planning, Path Planning Algorithm, Physical Path, Robotics