Inter-Robot Interactions in Multi-Robot Systems Using Braids

TL;DR

This paper introduces a framework for multi-robot coordination using braid group theory to specify and execute safe, complex interaction patterns in shared spaces, enabling rich movement and information exchange.

Contribution

It presents a novel approach to encode and enforce a broad class of interaction patterns in multi-robot systems using braid groups, ensuring safety and flexibility.

Findings

Successfully encodes interaction patterns with braid groups

Ensures collision-free execution of complex multi-robot interactions

Provides a hybrid system framework for symbolic-to-path mapping

Abstract

This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow for the enforcement of desired interaction patterns in a provably safe (i.e., collision-free) manner, e.g., for achieving rich movement patterns in a shared space, or to exchange sensor information. We propose to specify interaction patterns through elements of the so-called braid group. This allows us to not focus on a particular pattern per se, but rather on the problem of being able to execute a whole class of patterns. The result from such a construction is a hybrid system driven by symbolic inputs that must be mapped onto actual paths that both realize the desired interaction levels and remain safe in the sense that collisions are avoided.