About: Redundancy Elimination in Highly Parallel Solutions of Motion Coordination Problems

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Description	Problems of motion coordination of multiple entities are addressed in this paper. These problems are dealt on the abstract level where they can be viewed as tasks of constructing a spatial-temporal plan for a set of identical mobile entities. The entities reside in a certain environment where they can move. Each entity need to reach a given goal position supposed it is starting from some initial position. The most abstract formal representations of coordinated motion problems are known as %22pebble motion on a graph%22 and %22multi-robot path planning%22. The existent algorithms for pebble motion and multi-robot problems were suspected of generating solutions containing redundancies. This hypothesis eventually confirmed in this work. We present several techniques for identifying and eliminating redundancies from solutions generated by existent algorithms. An extensive experimental evaluation was performed and it showed that the quality of generated solutions can be improved up to the order of magnitude. We also identify parameters characterizing instances of problems where a significant improvement is expectable. Problems of motion coordination of multiple entities are addressed in this paper. These problems are dealt on the abstract level where they can be viewed as tasks of constructing a spatial-temporal plan for a set of identical mobile entities. The entities reside in a certain environment where they can move. Each entity need to reach a given goal position supposed it is starting from some initial position. The most abstract formal representations of coordinated motion problems are known as %22pebble motion on a graph%22 and %22multi-robot path planning%22. The existent algorithms for pebble motion and multi-robot problems were suspected of generating solutions containing redundancies. This hypothesis eventually confirmed in this work. We present several techniques for identifying and eliminating redundancies from solutions generated by existent algorithms. An extensive experimental evaluation was performed and it showed that the quality of generated solutions can be improved up to the order of magnitude. We also identify parameters characterizing instances of problems where a significant improvement is expectable. (en)
Title	Redundancy Elimination in Highly Parallel Solutions of Motion Coordination Problems Redundancy Elimination in Highly Parallel Solutions of Motion Coordination Problems (en)
skos:prefLabel	Redundancy Elimination in Highly Parallel Solutions of Motion Coordination Problems Redundancy Elimination in Highly Parallel Solutions of Motion Coordination Problems (en)
skos:notation	RIV/00216208:11320/13:10190138!RIV14-GA0-11320___
http://linked.open...avai/predkladatel	Matematicko-fyzikální fakulta
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(GAP103/10/1287)
http://linked.open...iv/cisloPeriodika	5
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Surynek, Pavel
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Univerzita Karlova v Praze / Matematicko-fyzikální fakulta
http://linked.open...dnocenehoVysledku	101868
http://linked.open...ai/riv/idVysledku	RIV/00216208:11320/13:10190138
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	SAT based optimization.; parallel plans; redundancy elimination; pebble motion on a graph; Multi-robot path planning (en)
http://linked.open.../riv/klicoveSlovo	Multi-robot path planning SAT based optimization. parallel plans pebble motion on a graph redundancy elimination
http://linked.open...odStatuVydavatele	US - Spojené státy americké
http://linked.open...ontrolniKodProRIV	[B25B7919241F]
http://linked.open...i/riv/nazevZdroje	International Journal on Artificial Intelligence Tools
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	1 (xsd:int)
http://linked.open...cetTvurcuVysledku	1 (xsd:int)
http://linked.open...vavai/riv/projekt	PlanEx: Bridging Planning and Execution
http://linked.open...UplatneniVysledku	2013
http://linked.open...v/svazekPeriodika	22
http://linked.open...iv/tvurceVysledku	Surynek, Pavel
issn	0218-2130
number of pages	19 (xsd:int)
http://bibframe.org/vocab/doi	10.1142/S0218213013600026
http://localhost/t...ganizacniJednotka	11320

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