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Summary: Jufeng Peng
Department of Mathematical Sciences
Rensselaer Polytechnic Institute
Troy, New York 12180, USA
pengj@rpi.edu
Srinivas Akella
Department of Computer Science
Rensselaer Polytechnic Institute
Troy, New York 12180, USA
Coordinating
Multiple Robots
with Kinodynamic
Constraints Along
Specified Paths
Abstract
This paper focuses on the collision-free coordination of multi-
ple robots with kinodynamic constraints along specified paths. We
present an approach to generate continuous velocity profiles for mul-
tiple robots; these velocity profiles satisfy the dynamics constraints,
avoid collisions, and minimize the completion time. The approach,
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