In this paper, we consider the problem of planning collision-free trajectories to navigate a team of labeled robots from a set of start locations to a set of goal locations, where robots have pre-assigned and non-interchangeable goals. We present a solution to this problem for a centralized team operating in an obstacle-free, two-dimensional workspace. Our algorithm allows robots to follow Optimal Motion Plans (OMPs) to their goals when possible and has them enter Circular HOlding Patterns (CHOPs) to safely navigate congested areas. This OMP CHOP algorithm is shown to be safe and complete, and simulation results show scalability to hundreds of robots.
CITATION STYLE
Tang, S., & Kumar, V. (2018). A Complete Algorithm for Generating Safe Trajectories for Multi-robot Teams. In Springer Proceedings in Advanced Robotics (Vol. 3, pp. 599–616). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-319-60916-4_34
Mendeley helps you to discover research relevant for your work.