.png){kind=icon}
.png){kind=icon}
Return
A decoupled time-optimized multi-robot path parameterization method
.png){kind=icon}
OA
AI
DOI：10.1007/s40747-025-02110-5.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
This paper presents a decoupled time-optimized path parameterization method for coordinating multiple robots with kinodynamic constraints in shared workspaces, where each robot follows a predefined geometric path. The proposed approach first computes time-optimal trajectories for individual robots using the Time-Optimal Path Parameterization (TOPP) algorithm, then resolves inter-robot collisions through strategically calculated start-time delays. By introducing the concept of Generalized Collision Regions (GCRs) in coordination space and developing an efficient algorithm to compute delay collision intervals, our method guarantees collision-free motion while minimizing the total operation time. The solution is formulated as a convex optimization problem with linear constraints, enabling efficient computation. Experimental validation using both robotic arms and car-like robots demonstrates the method’s effectiveness.
Keywords:
Multi-robot
Decoupled approaches
Path parameterization
Time delays
Generalized collision region
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
4.6
Papers:
2.1K
Citations:
6.6K