Conflict Detection for Multi-agent Motion Planning using Mathematical Analysis of Extended Collision Map

확장충돌맵의 수학적 분석을 이용한 다개체의 충돌탐지

Effective tools which can alleviate the complexity and computational load problem in collision-free motion planning for multi-agent system have steadily been demanded in robotics field. To reduce the complexity, the extended collision map (ECM) which adopts decoupled approach and prioritization is already proposed. In ECM, the collision regions which represent the potential collision of robots are calculated using the computational power; the complexity problem is not resolved completely. In this paper, we propose a mathematical analysis of the extended collision map; as a result, we formulate the collision region as an equation with 5-8 variables. For mathematical analysis, we introduce realistic assumptions as follows; the path of each robot can be approximated to a straight line or an arc and every robot moves with uniform velocity or constant acceleration near the intersection between paths. Our result reduces the computational complexity in comparison with the previous result without losing optimality, because we use simple but exact equations of the collision regions. This result can be widely applicable to coordinated multi-agent motion planning.