Paper Info
Title
Pareto Optimal Multi-Robot Motion Planning
Abstract
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to identify the Pareto optimal solutions where no robot can unilaterally reduce its traveling time without extending others'. The consistent approximation of the algorithm in the epigraphical profile sense is guaranteed using set-valued numerical analysis. Simulations show the anytime property and increasing optimality of the proposed algorithm.
Year
DOI
Venue
2018
10.23919/acc.2018.8431249
2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC)
Keywords
DocType
Volume
robotic motion planning, multi-robot coordination, Pareto optimality
Conference
abs/1802.09099
ISSN
Citations 
PageRank 
0743-1619
0
0.34
References 
Authors
13
2
Name
Order
Citations
PageRank
Guoxiang Zhao111.40
Minghui Zhu24412.11