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

Guoxiang Zhao, Minghui Zhu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages226-231
Number of pages6
ISBN (Electronic)9781728113982
DOIs
StatePublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: Dec 11 2019Dec 13 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2019-December
ISSN (Print)0743-1546

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
CountryFrance
CityNice
Period12/11/1912/13/19

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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