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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2409.17079 |
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| _version_ | 1866917786860650496 |
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| author | Mao, Katherine Spasojevic, Igor Hopkins, Malakhi Hsieh, M. Ani Kumar, Vijay |
| author_facet | Mao, Katherine Spasojevic, Igor Hopkins, Malakhi Hsieh, M. Ani Kumar, Vijay |
| contents | Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent actuation constraints. We propose a Time-Optimal Path Parameterization (TOPP) algorithm for multiple car-like agents, where the modulation of the timing of every robot along its assigned path is employed to ensure collision avoidance and dynamic feasibility. This is achieved through the use of a priority queue to determine the order of trajectory execution for each robot while taking into account all possible collisions with higher priority robots in a spatiotemporal graph. We show a 10-20% reduction in makespan against existing state-of-the-art methods and validate our approach through simulations and hardware experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_17079 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Collision-free time-optimal path parameterization for multi-robot teams Mao, Katherine Spasojevic, Igor Hopkins, Malakhi Hsieh, M. Ani Kumar, Vijay Robotics Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent actuation constraints. We propose a Time-Optimal Path Parameterization (TOPP) algorithm for multiple car-like agents, where the modulation of the timing of every robot along its assigned path is employed to ensure collision avoidance and dynamic feasibility. This is achieved through the use of a priority queue to determine the order of trajectory execution for each robot while taking into account all possible collisions with higher priority robots in a spatiotemporal graph. We show a 10-20% reduction in makespan against existing state-of-the-art methods and validate our approach through simulations and hardware experiments. |
| title | Collision-free time-optimal path parameterization for multi-robot teams |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.17079 |