Scalable distributed algorithms for multi-robot near-optimal motion planning

被引：0

作者：

Zhao, Guoxiang ^{[1
]}

Zhu, Minghui ^{[1
]}

机构：

[1] Penn State Univ, Sch Elect Engn & Comp Sci, University Pk, PA 16802 USA

来源：

2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC) | 2019年

关键词：

robotic motion planning; multi-robot optimal coordination; scalability; THEORETIC CONTROLLER SYNTHESIS; MULTIPLE;

D O I：

10.1109/cdc40024.2019.9029416

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates a class of motion planning problems where multiple unicycle robots desire to safely reach their respective goal regions with minimal traveling times. We present a distributed algorithm which integrates decoupled optimal feedback planning and distributed conflict resolution. Collision avoidance and finite-time arrival at the goal regions are formally guaranteed. Further, the computational complexity of the proposed algorithm is independent of the robot number. A set of simulations are conduct to verify the scalability and near-optimality of the proposed algorithm.

引用

页码：226 / 231

页数：6