2024/09/25 by Leonardo S. Santos, Santos, Leonardo, Caio C. G. Ribeiro +3
Computer Science · #Embedded Systems Design Techniques #FOS: Computer and information sciences #Interconnection Networks and Systems #Robotics (cs.RO) #VLSI and Analog Circuit Testing
paper · pdf · doi:10.48550/arxiv.2409.16851
openalex publication_date 2024/09/25 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The exchange of information is key in applications that involve multiple agents, such as search and rescue, military operations, and disaster response. In this work, we propose a simple and effective trajectory planning framework that tackles the design, deployment, and reconfiguration of a communication backbone by reframing the problem of networked multi-agent motion planning as a manipulator motion planning problem. Our approach works for backbones of variable configurations both in terms of the number of robots utilized and the distance limit between each robot. While research has been conducted on connection-restricted navigation for multi-robot systems in the last years, the field of manipulators is arguably more developed both in theory and practice. Hence, our methodology facilitates practical applications built on top of widely available motion planning algorithms and frameworks for manipulators.