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Summary: A Tale of Two Planners: Modular Robotic Planning with LDP
Michael De Rosa
Seth Copen Goldstein
Peter Lee
School of Computer Science
Carnegie Mellon University
[mderosa,seth,petel]@cs.cmu.edu
Padmanabhan Pillai
Jason Campbell
Intel Research Pittsburgh
[padmanabhan.s.pillai,jason.d.campbell]@intel.com
Abstract-- LDP (Locally Distributed Predicates) is a dis-
tributed, high-level language for programming modular recon-
figurable robot systems (MRRs). In this paper we present the
implementation of two motion-planning algorithms in LDP, and
analyze both their performance and ease of implementation.
We present multiple variations of one planner, including a
novel resource allocation algorithm. We then draw conclusions
about both the utility of the motion-planning algorithms and
the suitability of LDP to the problem space. Our experiments
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