Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
Coordinating the Motions of Multiple Robots with Kinodynamic Constraints Jufeng Peng Srinivas Akella
 

Summary: Coordinating the Motions of Multiple Robots with Kinodynamic Constraints
Jufeng Peng Srinivas Akella
Department of Mathematical Sciences Department of Computer Science
Rensselaer Polytechnic Institute Rensselaer Polytechnic Institute
Troy, New York 12180 Troy, New York 12180
pengj@rpi.edu sakella@cs.rpi.edu
Abstract
This paper focuses on the coordination of multiple robots
with kinodynamic constraints along specified paths. The
presented approach generates continuous velocity profiles
that avoid collisions and minimize the completion time for
the robots. The approach identifies collision segments along
each robot's path and then optimizes the motions of the
robots along their collision and collision-free segments. For
each path segment for each robot, the minimum and maxi-
mum possible traversal times that satisfy the dynamics con-
straints are computed by solving the corresponding two-
point boundary value problems. Then the collision avoid-
ance constraints for pairs of robots can be combined to for-
mulate a mixed integer nonlinear programming (MINLP)

  

Source: Akella, Srinivas - Department of Computer Science, University of North Carolina, Charlotte

 

Collections: Engineering; Computer Technologies and Information Sciences