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Computing Pareto optimal coordinations on roadmaps

delete2005-11-01
delete33
delete
OA
AI
R
Robert Ghrist
J
Jason M. O’Kane
S
Steven M. LaValle
DOI：10.1177/0278364905059057delete
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Abstract

Abstract

En 中文
We consider the coordination of multiple robots in a common environment, each robot having its own (distinct) roadmap. Our primary contribution is a classification of and exact algorithm for computing vector-valued (or Pareto) optima for collision-free coordination. We indicate the utility of new geometric techniques from CAT(0) geometry and give an argument that curvature bounds are the key distinguishing feature between systems for which the classification is finite and for those in which it is not.
Keywords:
motion planning
optimality
coordination spaces
roadmaps
multiple robots
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Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.

Journal

International Journal of Robotics Research cover
International Journal of Robotics Research
IF:
5
Papers:
2.4K
Citations:
1.5W

Organization

No organization information available