Multiple Robot Coordination

When multiple robots execute tasks in a shared workspace, automatic planners to ensure that the robots do not collide with each other become essential. I am developing integer programming formulations to minimize task execution time and coordinate collision-free robot motions, given individual robot trajectories that avoid collisions with stationary obstacles. In addition to applying this work to the design and virtual prototyping of workcells and assembly lines, I plan to extend these techniques to develop motion planning algorithms for robots with many degrees of freedom and for computer graphics animation. This is ongoing work with Seth Hutchinson .