1. Sampling based Mission Planning for Multiple Robots
Robotics and Artificial Intelligence Laboratory
Indian Institute of Information Technology, Allahabad
Sampling based Mission Planning for Multiple Robots
Rahul Kala
Publication of paper: R. Kala (2016) Sampling based mission planning for multiple robots. In Proceedings of the 2016 IEEE Congress on Evolutionary Computation, Vancouver, BC, Canada, pp  
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25th July, 2016

2. Sampling based Mission Planning for Multiple Robots
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3. Mission Specification
Sampling based Mission Planning for Multiple Robots
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4. Sampling based Mission Planning for Multiple Robots
Roadmap Generation
Sampling based Mission Planning for Multiple Robots
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5. Sampling based Mission Planning for Multiple Robots
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6. Sampling based Mission Planning for Multiple Robots
Paths Traversed
Sampling based Mission Planning for Multiple Robots
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7. Overall Approach Probabilistic Roadmap A* Search Optimization Map
Map
Roadmap
Cost Matrix
Mission
Fuzzy Navigator
Trajectory
Genetic Algorithm
Mission Specification
Local Search
Sampling based Mission Planning for Multiple Robots
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8. Sampling based Mission Planning for Multiple Robots
Roadmap Generation
Vertices
Edges
Cost Matrix
Sampling based Mission Planning for Multiple Robots
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9. Sampling based Mission Planning for Multiple Robots
Roadmap Generation
Sampling based Mission Planning for Multiple Robots
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10. Multi-Robot Mission Planning
Sight Assignment
Sight Ordering
Multi-Robot Mission Planning with Preferences
Multi-Robot Mission Planning
Single Robot Mission Planning
Sampling based Mission Planning for Multiple Robots
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11. Multi-Robot Mission Planning
Sampling based Mission Planning for Multiple Robots
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12. Multi-Robot Mission Planning
Genetic Algorithm
Local Search
Sampling based Mission Planning for Multiple Robots
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13. Navigation Using Fuzzy Logic
Sampling based Mission Planning for Multiple Robots
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14. Hybrid Deliberative and Reactive Planning
Sampling based Mission Planning for Multiple Robots
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15. Sampling based Mission Planning for Multiple Robots
Scenario 2
Sampling based Mission Planning for Multiple Robots
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16. Sampling based Mission Planning for Multiple Robots
Scenario 3
Sampling based Mission Planning for Multiple Robots
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17. Sampling based Mission Planning for Multiple Robots
Results
Sampling based Mission Planning for Multiple Robots
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18. Computation Time before Optimization
Roadmap Construction
Cost Matrix Computation
Total
Sampling based Mission Planning for Multiple Robots
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19. Sampling based Mission Planning for Multiple Robots
Roadmap Size
Sampling based Mission Planning for Multiple Robots
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20. Sampling based Mission Planning for Multiple Robots
Optimization
Local Optimization
Global Optimization
Sampling based Mission Planning for Multiple Robots
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21. Sampling based Mission Planning for Multiple Robots
Scalability
Sampling based Mission Planning for Multiple Robots
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22. Sampling based Mission Planning for Multiple Robots
Scalability
Sampling based Mission Planning for Multiple Robots
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23. Sampling based Mission Planning for Multiple Robots
Thank You
Sampling based Mission Planning for Multiple Robots
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