Name
Abstract | ||
|---|---|---|
This paper investigates a class of motion planning problems where multiple unicycle robots desire to safely reach their respective goal regions with minimal traveling times. We present a distributed algorithm which integrates decoupled optimal feedback planning and distributed conflict resolution. Collision avoidance and finite-time arrival at the goal regions are formally guaranteed. Further, the computational complexity of the proposed algorithm is independent of the robot number. A set of simulations are conduct to verify the scalability and near-optimality of the proposed algorithm. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/CDC40024.2019.9029416 | 2019 IEEE 58th Conference on Decision and Control (CDC) |
Keywords | DocType | ISSN |
robotic motion planning,multi-robot optimal coordination,scalability | Conference | 0743-1546 |
ISBN | Citations | PageRank |
978-1-7281-1399-9 | 0 | 0.34 |
References | Authors | |
14 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Guoxiang Zhao | 1 | 1 | 1.40 |
| Minghui Zhu | 2 | 44 | 12.11 |