Geometric Methods for Multirobot Optimal Motion Planning

Abstract

Motion planning for a multi-robotic system refers to finding trajectories for each robot in a team so that a certain task is performed. In general, this problem is under-determined because the tasks are usually specified in terms of reaching a final position starting from a given initial one. Mathematically, this translates to generating interpolating curves with given boundary conditions in a certain configuration space, problem which usually admits several solutions. A natural way to solve this indeterminacy is to find a solution which is optimal with respect to a performance criterion, e.g., energy consumption.