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Conference papers
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.
Cited literature [18 references]
https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141
Contributor : Florent Altché Connect in order to contact the contributor
Submitted on : Monday, September 5, 2016 - 2:35:23 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:03 PM
Long-term archiving on: : Tuesday, December 6, 2016 - 1:36:58 PM
Contributor : Florent Altché Connect in order to contact the contributor
Submitted on : Monday, September 5, 2016 - 2:35:23 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:03 PM
Long-term archiving on: : Tuesday, December 6, 2016 - 1:36:58 PM
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iros2016.pdf
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