Given a collection of robots sharing a common environment, assume that each possesses an individual roadmap for its C-space and a cost function for attaining a goal. Vector-valued (or Pareto) optima for collision-free coordination are by no means unique: in fact, continua of optimal coordinations are possible. However, for cylindrical obstacles (those defined by pairwise interactions), we prove a finite bound on the number of optimal coordinations. For such systems, we present an exact algorithm for reducing a coordination scheme to its Pareto optimal representative. © Springer-Verlag Berlin Heidelberg 2005.
CITATION STYLE
Ghrist, R., O’Kane, J. M., & LaValle, S. M. (2005). Pareto optimal coordination on Roadmaps. Springer Tracts in Advanced Robotics, 17, 171–186. https://doi.org/10.1007/10991541_13
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