Computing Pareto Optimal Coordinations on Roadmaps-Reference-Cited by-同舟云学术

Computing Pareto Optimal Coordinations on Roadmaps

Published:2005-11 Issue:11 Volume:24 Page:997-1010
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Ghrist Robert¹,O'Kane Jason M.²,LaValle Steven M.²

Affiliation:

1. Department of Mathematics, University of Illinois, Urbana, IL 61801, USA,

2. Department of Computer Science, University of Illinois, Urbana, IL 61801, USA,

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.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/0278364905059057

Reference16 articles.

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2. Robot Motion Planning: A Distributed Representation Approach

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5. Ray shooting in polygons using geodesic triangulations

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