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 language | English (US) |
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| Title of host publication | 2019 IEEE 58th Conference on Decision and Control, CDC 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 226-231 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781728113982 |
| DOIs | |
| State | Published - Dec 2019 |
| Event | 58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: Dec 11 2019 → Dec 13 2019 |
Publication series
| Name | Proceedings of the IEEE Conference on Decision and Control |
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| Volume | 2019-December |
| ISSN (Print) | 0743-1546 |
| ISSN (Electronic) | 2576-2370 |
Conference
| Conference | 58th IEEE Conference on Decision and Control, CDC 2019 |
|---|---|
| Country/Territory | France |
| City | Nice |
| Period | 12/11/19 → 12/13/19 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization