Prithu’s Status Report 10/1

This week, most of my time was dedicated to researching and designing the algorithm that we will use for motion planning. After looking at various multi-agent motion planning papers (including one’s using dynamic planning), I ended up using a derivative of an algorithm that assigns each robot a priority and plans in space-time configuration space. In this way, we are able to pre-compute the robot paths such that they don’t result in a collision. Once a robot has completed its task, it is assigned the lowest priority and plans around the other robots in a similar way. I have started writing out this algorithm, and I plan to have a proof-of-concept done by tomorrow (Sunday) EOD. In addition to this, I worked with Omkar and Saral on the design presentation that Omkar will be presenting next week.