Computing pareto optimal coordinations on roadmaps

Robert Christ; Jason M. O'Kane; Steven M. LaValle

doi:10.1177/0278364905059057

Computing pareto optimal coordinations on roadmaps

Robert Christ, Jason M. O'Kane, Steven M. LaValle

Research output: Contribution to journal › Article › peer-review

Abstract

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 new geometric techniques from CAT(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.

Original language	English (US)
Pages (from-to)	997-1010
Number of pages	14
Journal	International Journal of Robotics Research
Volume	24
Issue number	11
DOIs	https://doi.org/10.1177/0278364905059057
State	Published - Nov 2005

Keywords

Coordination spaces
Motion planning
Multiple robots
Optimality
Roadmaps

ASJC Scopus subject areas

Software
Modeling and Simulation
Mechanical Engineering
Artificial Intelligence
Electrical and Electronic Engineering
Applied Mathematics

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Computing pareto optimal coordinations on roadmaps

Abstract

Keywords

ASJC Scopus subject areas

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