首页|New Findings from IIT Describe Advances in Robotics (Ff-rrt*: a Sampling-based P lanner for Multirobot Global Formation Path Planning)
New Findings from IIT Describe Advances in Robotics (Ff-rrt*: a Sampling-based P lanner for Multirobot Global Formation Path Planning)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – New research on Robotics is the subjec t of a report. According to news reporting out of Gujarat, India, by NewsRx edit ors, research stated, “This article presents a collision-free global path planni ng approach for multirobot systems called flexible formation-rapidly exploring r andomized trees* (FF-RRT*). The algorithm is based on RRT* and provides a flexib le and efficient representation of the formation geometry independent of the num ber of robots.” Financial supporters for this research include Government of India, IIT Gandhina gar. Our news journalists obtained a quote from the research from IIT, “It is designe d to generate optimal paths for multirobot systems in a five-dimensional configu ration space comprising the formation centroid, orientation, and scaling. An aff ine transformation is used to convert the path in the configuration space to the workspace of the robots. The proposed method employs a new distance function th at eliminates the need for tuning weights and a sampling scheme for scaling fact ors to avoid inter-robot collisions. FF-RRT* is experimentally demonstrated usin g nonholonomic wheeled mobile robots and is effective in planning the collective motion of the robots.”
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