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Safe and Distributed Kinodynamic Replanning for Vehicular Networks

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Abstract

This work deals with the problem of planning collision-free motions for multiple communicating vehicles that operate in the same, partially-observable environment in real-time. A challenging aspect of this problem is how to utilize communication so that vehicles do not reach states from which collisions cannot be avoided due to second-order motion constraints. This paper initially shows how it is possible to provide theoretical safety guarantees with a priority-based coordination scheme. Safety means avoiding collisions with obstacles and between vehicles. This notion is also extended to include the retainment of a communication network when the vehicles operate as a networked team. The paper then progresses to extend this safety framework into a fully distributed communication protocol for real-time planning. The proposed algorithm integrates sampling-based motion planners with message-passing protocols for distributed constraint optimization. Each vehicle uses the motion planner to generate candidate feasible trajectories and the message-passing protocol for selecting a safe and compatible trajectory. The existence of such trajectories is guaranteed by the overall approach. The theoretical results have also been experimentally confirmed with a distributed simulator built on a cluster of processors and using applications such as coordinated exploration. Furthermore, experiments show that the distributed protocol has better scalability properties when compared against the priority-based scheme.

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Acknowledgements

Work on this paper has been supported in part by NSF 0308237, 0615328 and 0713623. The computational experiments were run on equipment obtained by CNS 0454333, and CNS 0421109 in partnership with Rice University, AMD and Cray. The authors would like to thank the anonymous reviewers and the organizing committee of ROBOCOMM 2007 for their comments and their invitation to MONE. Furthermore, the comments by the MONE reviewing and editorial team were helpful in further improving the quality of the final manuscript.

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Authors and Affiliations

  1. Computer Science Department, Rice University, Houston, TX, 77005, USA

    Kostas E. Bekris, Konstantinos I. Tsianos & Lydia E. Kavraki

Authors
  1. Kostas E. Bekris
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  2. Konstantinos I. Tsianos
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  3. Lydia E. Kavraki
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Correspondence to Lydia E. Kavraki.

Additional information

Part of the material presented in this paper has appeared in two conference publications: “A Decentralized Planner that Guarantees the Safety of Communicating Vehicles with Complex Dynamics that Replan Online” at IROS 2007 and “A Distributed Protocol for Safe Real-Time Planning of Communicating Vehicles with Second-Order Dynamics” at ROBOCOMM 2007.

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Bekris, K.E., Tsianos, K.I. & Kavraki, L.E. Safe and Distributed Kinodynamic Replanning for Vehicular Networks. Mobile Netw Appl 14, 292–308 (2009). https://doi.org/10.1007/s11036-009-0152-y

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