Corpus ID: 8792991

A message-passing algorithm for multi-agent trajectory planning

@article{Bento2013AMA,
  title={A message-passing algorithm for multi-agent trajectory planning},
  author={Jos{\'e} Bento and Nate Derbinsky and J. Alonso-Mora and J. Yedidia},
  journal={ArXiv},
  year={2013},
  volume={abs/1311.4527}
}
We describe a novel approach for computing collision-free global trajectories for p agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM). Compared with existing methods, our approach is naturally parallelizable and allows for incorporating different cost functionals with only minor adjustments. We apply our method to classical challenging instances and observe that its computational requirements scale well… Expand
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