Constraint-Based Motion Planning for Multiple Agents Luv Kohli COMP November 10, 2003 Progress Update

Constraint-based? Garber & Lin formulated the motion planning problem as a dynamical system simulationGarber & 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 environmentEach robot is a rigid body or a collection of rigid bodies influenced by constraint forces in the environment

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

Multiple agents Want to extend framework to multiple agentsWant to extend framework to multiple agents First step: try to get line of sight constraint workingFirst step: try to get line of sight constraint working

Accomplishments Broke a fingerBroke a finger Consequently, learned to type without two handsConsequently, learned to type without two hands

More accomplishments Noticed that the angle constraint still needed to be implemented, started implementing thatNoticed that the angle constraint still needed to be implemented, started implementing that Tried to apply the angle constraint to the line of sight constraintTried to apply the angle constraint to the line of sight constraint

Next steps Get line of sight working with visibility constraintsGet line of sight working with visibility constraints Add higher level behavior for collaborationAdd higher level behavior for collaboration

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