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 | |
| State | Published - Nov 1 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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Cite this
Christ, R., O'Kane, J. M., & LaValle, S. M. (2005). Computing pareto optimal coordinations on roadmaps. International Journal of Robotics Research, 24(11), 997-1010. https://doi.org/10.1177/0278364905059057