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Abstract: This paper focuses on the collision-free coordination of multiple robots with kinodynamic constraints along specified paths. We present an approach to generate continuous velocity profiles for multiple robots; these velocity profiles satisfy the dynamics constraints, avoid collisions, and minimize the completion time. The approach, which combines techniques from optimal control and mathematical programming, consists of identifying collision segments along each robot's path, and then optimizing... (Update)
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BibTeX entry: (Update)
J. Peng and S. Akella. Coordinating multiple robots with kinodynamic constraints along specified paths. In J.-D. Boissonat, J. Burdick, K. Goldberg, and S. Hutchinson, editors, Algorithmic Foundations of Robotics V (WAFR 2002. http://citeseer.ist.psu.edu/article/peng05coordinating.html More
@misc{ peng02coordinating,
author = "J. Peng and S. Akella",
title = "Coordinating multiple robots with kinodynamic constraints along specified
paths",
text = "J. Peng and S. Akella. Coordinating multiple robots with kinodynamic constraints
along specified paths. In J.-D. Boissonat, J. Burdick, K. Goldberg, and
S. Hutchinson, editors, Algorithmic Foundations of Robotics V (WAFR 2002.",
year = "2002",
url = "citeseer.ist.psu.edu/article/peng05coordinating.html" }
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