ConstraintBased Motion Planning for Multiple Agents

1
Constraint-Based Motion Planning for Multiple
Agents

• Luv Kohli
• COMP290-058
• November 10, 2003
• Progress Update

2
Constraint-based?

• Garber Lin formulated the motion planning
  problem as a dynamical system simulation
• Each robot is a rigid body or a collection of
  rigid bodies influenced by constraint forces in
  the environment

3
Constraints

• Hard constraints
• Absolutely must be satisfied (e.g.
  non-penetration, articulated robot joint
  connectivity)
• Soft constraints
• Encourage objects to follow certain behaviors
  (e.g. moving towards a goal, obstacle avoidance)

4
Multiple agents

• Want to extend framework to multiple agents
• First step try to get line of sight constraint
  working

5
Accomplishments

• Broke a finger
• Consequently, learned to type without two hands

6
More accomplishments

• Noticed that the angle constraint still needed to
  be implemented, started implementing that
• Tried to apply the angle constraint to the line
  of sight constraint

7
Next steps

• Get line of sight working with visibility
  constraints
• Add higher level behavior for collaboration

8
References

• Garber, M. and Lin, M. Constraint-Based Motion
  Planning using Voronoi Diagrams. Proc. Fifth
  International Workshop on Algorithmic Foundations
  of Robotics (WAFR), 2002.
• Garber, M. and Lin, M. Constraint-Based Motion
  Planning for Virtual Prototyping. Proc. ACM
  Symposium on Solid Modeling and Applications,
  2002.
• Reynolds, C. W.. Flocks, Herds, and Schools A
  Distributed Behavioral Model. Computer Graphics,
  21(4) 25-34, 1987.
• Goldenstein, S., Large, E., and Metaxas, D.
  Dynamic Autonomous Agents Game Applications.
  Computer Animation, 1998.