# SPARTA : Fast global planning of collision-avoiding robot trajectories

@inproceedings{Mathy2015SPARTAF, title={SPARTA : Fast global planning of collision-avoiding robot trajectories}, author={Charles Mathy and Felix Gonda and Dan Schmidt and Nate Derbinsky and Alexander A. Alemi and Jos{\'e} Bento and Francesco Maria Delle Fave and Jonathan S. Yedidia}, year={2015} }

We present an algorithm for obtaining collision-avoiding robot trajectories we call SPARTA (SPline-based ADMM for Robot Trajectory Avoidance). We break the problem of solving for collision-avoiding trajectories of robots into tractable subproblems, using the framework of a recently developed generalization of ADMM, the Three Weight Algorithm. The generated paths are smooth, include physical constraints of the robots, and the convergence speed is such that it becomes feasible for real-time…

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