Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Robot Motion Planning
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths
International Journal of Robotics Research
Planning Algorithms
Multiple path coordination for mobile robots: a geometric algorithm
IJCAI'99 Proceedings of the 16th international joint conference on Artificial intelligence - Volume 2
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Aggregate dynamics for dense crowd simulation
ACM SIGGRAPH Asia 2009 papers
A synthetic-vision based steering approach for crowd simulation
ACM SIGGRAPH 2010 papers
Simulating formations of non-holonomic systems with control limits along curvilinear coordinates
MIG'10 Proceedings of the Third international conference on Motion in games
Image and animation display with multiple mobile robots
International Journal of Robotics Research
Populating virtual environments with crowd patches and rule-based method
Proceedings of the 11th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and its Applications in Industry
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
A hybrid navigation strategy for multiple mobile robots
Robotics and Computer-Integrated Manufacturing
An adaptive memetic algorithm for multi-robot path-planning
SEMCCO'12 Proceedings of the Third international conference on Swarm, Evolutionary, and Memetic Computing
Journal of Intelligent and Robotic Systems
Exponential fields formulation for WMR navigation
Applied Bionics and Biomechanics - Personal Care Robotics
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We present a novel approach to compute collision-free paths for multiple robots subject to local coordination constraints. More specifically, given a set of robots, their initial and final configurations, and possibly some additional coordination constraints, our goal is to compute a collision-free path between the initial and final configuration that maintains the constraints. To solve this problem, our approach generalizes the social potential field method to be applicable to both convex and nonconvex polyhedra. Social potential fields are then integrated into a "physics-based motion planning" framework which uses constrained dynamics to solve the motion planning problem. Our approach is able to plan for over 200 robots while averaging about 110 ms per step in a variety of environments.