Safe and complete trajectory generation for robot teams with higher-order dynamics

@article{Tang2016SafeAC,
  title={Safe and complete trajectory generation for robot teams with higher-order dynamics},
  author={Sarah Tang and Vijay Kumar},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={1894-1901}
}
In this work, we consider the labeled multi-robot planning problem. In this paradigm, a team of robots at fixed start positions must navigate to pre-specified and noninterchangable goal positions. While many algorithms have been proposed for finding optimal solutions to this problem, most methods assume that the robots are kinematic agents, whereas in reality, robots often have high-order dynamics that must be respected by their trajectories. Here, we propose a centralized method for generating… CONTINUE READING

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