Continuous-time trajectory optimization for decentralized multi-robot navigation
Published in Advances in Control and Optimization of Dynamic Systems 2020, IIT Madras, India, 2020
Recommended citation: Shravan Krishnan, Govind Aadithya Rajagopalan, Sivanathan Kandhasamy, Madhavan Shanmugavel, "Continuous-Time Trajectory Optimization for Decentralized Multi-Robot Navigation", IFAC-PapersOnLine,Volume 53, Issue 1,2020,Pages 494-499,ISSN 2405-8963. https://doi.org/10.1016/j.ifacol.2020.06.083
Continuing the work from “Collision-Free Multi Robot Trajectory Optimization in Unknown Environments using Decentralized Trajectory Planning”, in this paper we propose a trajectory optimization framework where we estimate the trajectories of the other robotis as a polynomial function of time hence accounting for tentative collision zones that should be avoided by the ego.
Recommended citation: Shravan Krishnan, Govind Aadithya Rajagopalan, Sivanathan Kandhasamy, Madhavan Shanmugavel, Continuous-Time Trajectory Optimization for Decentralized Multi-Robot Navigation, IFAC-PapersOnLine,Volume 53, Issue 1,2020,Pages 494-499,ISSN 2405-8963.