Survey of Methods Applied in Cooperative Motion Planning of Multiple Robots

摘要

Recent advances in robotics, autonomous systems, and artificial intelligence (AI) enable robots to perform complex tasks such as delivery, surveillance, inspection, rescue, and others. However, they are unable to complete certain tasks independently due to specific restrictions. In the last few years, researchers are keenly interested in deploying multi-robots for such tasks due to their scalability, robustness, and efficiency. Multiple robots; mobile robots, unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), and unmanned underwater vehicles (UUVs); are gaining much momentum and versatility in their operations, whereas cooperative motion planning is a crucial aspect of incorporating these robots into boundless applications. The purpose of this review chapter is to present an insightful look into the problem of cooperative motion planning with its solution and a comprehensive assessment of various path-planning techniques, task-based motion planning techniques, and obstacle avoidance protocols. It further explores the role of AI in the motion planning of multi-robots. Moreover, it highlights various applications and existing issues in these applications that require future consideration. This review chapter implies that researchers, industries, and academia should aspire to cooperative motion planning for robotic expansions.