{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T05:06:07Z","timestamp":1739077567166,"version":"3.37.0"},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":6308,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1991,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A new approach to motion planning for multiple robots with multi-mode operations is proposed in this paper. Although sharing a common workspace, the robots are assumed to perform periodical tasks independently. The goal is to schedule the motion trajectories of the robots so as to avoid collisions among them. Rather than assigning the robots with different priorities and planning safe motion for only one robot at a time, as is done in most previous studies, an efficient method is developed that can simultaneously generate collision-free motions for the robots with or without priority assignment. Being regarded as a type of job-shop scheduling, the problem is reduced to that of finding a minimaximal path in a disjunctive graph and solved by an extension of the Balas algorithm. The superiority of this approach is demonstrated with various robot operation requirements, including \u201cnon-priority\u201d, \u201cwith-priority\u201d, and \u201cmulticycle\u201d operation modes. Some techniques for speeding up the scheduling process are also presented. The planning results can be described by Gantt charts and executed by a simple \u201cstop-and-go\u201d control scheme. Simulation results on different robot operation modes are also presented to show the feasibility of the proposed approach.<\/jats:p>","DOI":"10.1017\/s0263574700000576","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:18:20Z","timestamp":1236691100000},"page":"393-408","source":"Crossref","is-referenced-by-count":4,"title":["Motion planning for multiple robots with multi-mode operations via disjunctive graphs"],"prefix":"10.1017","volume":"9","author":[{"given":"Chi-Fang","family":"Lin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen-Hsiang","family":"Tsai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700000576_ref020","doi-asserted-by":"publisher","DOI":"10.1145\/359046.359048"},{"key":"S0263574700000576_ref007","doi-asserted-by":"crossref","unstructured":"7. Liu Y.H. , \u201cA practial algorithm for planning collision-free coordinated motion of multiple mobile robots\u201d In: Proc. IEEE Int. Conf. on Robotics and Automation, Washington, D.C. (IEEE Computer Society Press, New York, 1989) pp. 1427\u20131432.","DOI":"10.1109\/ROBOT.1989.100179"},{"key":"S0263574700000576_ref002","first-page":"224","article-title":"A subdivision algorithm in configuration space for findpath with rotation","volume":"SMC-15","author":"Brooks","year":"1985","journal-title":"IEEE Trans. on Syst."},{"key":"S0263574700000576_ref014","doi-asserted-by":"publisher","DOI":"10.1287\/mnsc.17.12.B782"},{"key":"S0263574700000576_ref004","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087095"},{"key":"S0263574700000576_ref015","doi-asserted-by":"publisher","DOI":"10.1287\/opre.16.2.353"},{"key":"S0263574700000576_ref013","doi-asserted-by":"publisher","DOI":"10.1080\/05695557408974934"},{"key":"S0263574700000576_ref011","unstructured":"11. Lin C.F. and Tsai W.H. , \u201cTrajectory modeling, collision detection, and motion planning for robot manipulators\u201d NSC Technical Report No. NSC78\u20130404-E009\u201304, National Chiao Tung University, Hsinchu, Taiwan 30050, Republic of China (submitted for publication)."},{"key":"S0263574700000576_ref001","doi-asserted-by":"publisher","DOI":"10.1109\/TC.1983.1676196"},{"key":"S0263574700000576_ref003","first-page":"190","article-title":"Solving the find-path problem by good representation of free space","volume":"SMC-13","author":"Brooks","year":"1983","journal-title":"IEEE Trans. on Syst."},{"key":"S0263574700000576_ref008","doi-asserted-by":"publisher","DOI":"10.1109\/70.88018"},{"key":"S0263574700000576_ref005","unstructured":"5. Ruff R. and Ahuja N. , \u201cPath planning in a three dimensional environment\u201d Proc. Int. Conf. on Pattern Recognition, Montreal, Canada 188\u2013191 (1984)."},{"key":"S0263574700000576_ref006","first-page":"21","article-title":"Collision-free motion planning of two robots","volume":"SMC-17","author":"Lee","year":"1987","journal-title":"IEEE Trans. on Syst."},{"key":"S0263574700000576_ref009","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500304"},{"key":"S0263574700000576_ref010","doi-asserted-by":"publisher","DOI":"10.1007\/BF01840371"},{"key":"S0263574700000576_ref012","doi-asserted-by":"publisher","DOI":"10.1287\/opre.17.6.941"},{"key":"S0263574700000576_ref016","doi-asserted-by":"publisher","DOI":"10.1287\/opre.11.6.889"},{"key":"S0263574700000576_ref017","doi-asserted-by":"publisher","DOI":"10.1287\/mnsc.24.4.441"},{"key":"S0263574700000576_ref018","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-5060(08)70743-X"},{"key":"S0263574700000576_ref019","doi-asserted-by":"publisher","DOI":"10.1287\/moor.1.2.117"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700000576","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:55:38Z","timestamp":1738990538000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700000576\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,12]]},"references-count":20,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1991,12]]}},"alternative-id":["S0263574700000576"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700000576","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1991,12]]}}}