### Abstract

We present an algorithm that computes the complete set of Pareto-optimal coordination strategies for two translating polygonal robots in the plane. A collision-free acyclic roadmap of piecewise-linear paths is given on which the two robots move. The robots have a maximum speed and are capable of instantly switching between any two arbitrary speeds. Each robot would like to minimize its travel time independently. The Pareto-optimal solutions are the ones for which there exist no solutions that are better for both robots. The algorithm computes exact solutions in time O(mn^{2} log n), in which m is the number of paths in the roadmap, n is the number of coordination space vertices. An implementation is presented.

Original language | English (US) |
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Pages (from-to) | 3981-3986 |

Number of pages | 6 |

Journal | Proceedings - IEEE International Conference on Robotics and Automation |

Volume | 2004 |

Issue number | 4 |

State | Published - Jul 5 2004 |

Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004 |

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### ASJC Scopus subject areas

- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering

### Cite this

*Proceedings - IEEE International Conference on Robotics and Automation*,

*2004*(4), 3981-3986.

**Exact pareto-optimal coordination of two translating polygonal robots on an acyclic roadmap.** / Chitsaz, Hamidreza; O'Kane, Jason M.; Lavalle, Steven M.

Research output: Contribution to journal › Conference article

*Proceedings - IEEE International Conference on Robotics and Automation*, vol. 2004, no. 4, pp. 3981-3986.

}

TY - JOUR

T1 - Exact pareto-optimal coordination of two translating polygonal robots on an acyclic roadmap

AU - Chitsaz, Hamidreza

AU - O'Kane, Jason M.

AU - Lavalle, Steven M

PY - 2004/7/5

Y1 - 2004/7/5

N2 - We present an algorithm that computes the complete set of Pareto-optimal coordination strategies for two translating polygonal robots in the plane. A collision-free acyclic roadmap of piecewise-linear paths is given on which the two robots move. The robots have a maximum speed and are capable of instantly switching between any two arbitrary speeds. Each robot would like to minimize its travel time independently. The Pareto-optimal solutions are the ones for which there exist no solutions that are better for both robots. The algorithm computes exact solutions in time O(mn2 log n), in which m is the number of paths in the roadmap, n is the number of coordination space vertices. An implementation is presented.

AB - We present an algorithm that computes the complete set of Pareto-optimal coordination strategies for two translating polygonal robots in the plane. A collision-free acyclic roadmap of piecewise-linear paths is given on which the two robots move. The robots have a maximum speed and are capable of instantly switching between any two arbitrary speeds. Each robot would like to minimize its travel time independently. The Pareto-optimal solutions are the ones for which there exist no solutions that are better for both robots. The algorithm computes exact solutions in time O(mn2 log n), in which m is the number of paths in the roadmap, n is the number of coordination space vertices. An implementation is presented.

UR - http://www.scopus.com/inward/record.url?scp=3042620606&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=3042620606&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:3042620606

VL - 2004

SP - 3981

EP - 3986

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

IS - 4

ER -