Computing Pareto Optimal Coordinations On Roadmaps  

Oleh:

Ghrist, Robert

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 24 no. 11 (Nov. 2004), page 997-1010.
Topik: motion planning; optimality; coordination spaces; roadmaps; multiple robots
Fulltext: 997.pdf (230.74KB)

Isi artikel

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 newgeometric techniques fromCAT(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.

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