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Coordinating Multiple Robots with Kinodynamic Constraints along

Summary: Coordinating Multiple Robots with
Kinodynamic Constraints along
Specified Paths
Jufeng Peng and Srinivas Akella
Department of Computer Science
Rensselaer Polytechnic Institute
Troy, New York 12180, USA
Abstract. This paper focuses on the collision-free coordination of multiple robots
with kinodynamic constraints along specified paths. We present an approach to
generate continuous velocity profiles for multiple robots that avoids collisions and
minimizes the completion time. The approach, which combines techniques from
optimal control and mathematical programming, consists of identifying collision
segments along each robot's path, and then optimizing the robots velocities along
the collision and collision-free segments. First, for each path segment for each robot,
the minimum and maximum possible traversal times that satisfy the dynamics con-
straints are computed by solving the corresponding two-point boundary value prob-
lems. The collision avoidance constraints for pairs of robots can then be combined
to formulate a mixed integer nonlinear programming (MINLP) problem. Since this
nonconvex MINLP model is difficult to solve, we describe two related mixed inte-
ger linear programming (MILP) formulations that provide schedules that are lower


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


Collections: Engineering; Computer Technologies and Information Sciences