Pareto optimal multi-robot coordination with acceleration constraints

Abstract

We consider a collection of robots sharing a common environment, each robot constrained to move on a roadmap in its configuration space. To program optimal collision-free motions requires a choice of the appropriate notion of optimality. We work in the case where each robot wishes to travel to a goal while optimizing elapsed time and consider vector-valued… (More)
DOI: 10.1109/ROBOT.2008.4543491

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