Distributed dynamic priority assignment and motion planning for multiple mobile robots with kinodynamic constraints

@article{Luo2016DistributedDP,
  title={Distributed dynamic priority assignment and motion planning for multiple mobile robots with kinodynamic constraints},
  author={Wenhao Luo and Nilanjan Chakraborty and Katia P. Sycara},
  journal={2016 American Control Conference (ACC)},
  year={2016},
  pages={148-154}
}
We present a distributed on-line coordinated motion planning approach for a group of mobile robots moving amidst dynamic obstacles. The objective for the motion planning is to minimize the total distance traveled by the robots as well as the danger of deadlock. Kinematic constraints, robot-obstacle collision avoidance constraints, and velocity/acceleration constraints are explicitly considered in individual robot's motion planner. A dynamic priority based scheme is proposed to deal with pair… CONTINUE READING

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