Concurrent assignment and planning of trajectories for large teams of interchangeable robots

@article{Turpin2013ConcurrentAA,
  title={Concurrent assignment and planning of trajectories for large teams of interchangeable robots},
  author={Matthew Turpin and Nathan Michael and Vijay Kumar},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={842-848}
}
This paper considers the problem of finding optimal time parameterized trajectories for N unlabeled robots navigating through a cluttered environment to N unlabeled goal locations where success is defined as every goal being reached by any robot. We propose a complete computationally-tractable algorithm for simultaneously finding trajectories and assignment of goal locations. This method is then demonstrated to have an upper complexity bound of that scales polynomially in the number of robots… CONTINUE READING
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