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Time-optimal Coordination of Mobile Robots along Specified Paths

Abstract : In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover, unlike previous work found in the literature, our formulation allows an exact linear modeling (up to the discretization resolution) of second-order dynamic constraints. Extensive simulations are performed to demonstrate the effectiveness of our approach.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141
Contributor : Florent Altché <>
Submitted on : Monday, September 5, 2016 - 2:35:23 PM
Last modification on : Thursday, September 24, 2020 - 5:04:02 PM
Long-term archiving on: : Tuesday, December 6, 2016 - 1:36:58 PM

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  • HAL Id : hal-01360141, version 1

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Florent Altché, Xiangjun Qian, Arnaud de la Fortelle. Time-optimal Coordination of Mobile Robots along Specified Paths. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea. ⟨hal-01360141⟩

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