Simultaneous Optimization of Assignments and Goal Formations for Multiple Robots

@article{Agarwal2018SimultaneousOO,
  title={Simultaneous Optimization of Assignments and Goal Formations for Multiple Robots},
  author={Saurav Agarwal and Srinivas Akella},
  journal={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2018},
  pages={6708-6715}
}
This paper presents algorithms to simultaneously compute the optimal assignments and formation parameters for a team of robots from a given initial formation to a variable goal formation (where the shape of the goal formation is given, and its scale and location parameters must be optimized). We assume the $n$ robots are identical spheres. We use the sum of squared travel distances as the objective function to be minimized, which also ensures that the trajectories are collision free. We show… CONTINUE READING

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