Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
On the Euclidean assignment problem
Journal of Computational and Applied Mathematics
Planning Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Path planning for permutation-invariant multirobot formations
IEEE Transactions on Robotics
Potential Fields for Maintaining Connectivity of Mobile Networks
IEEE Transactions on Robotics
Image and animation display with multiple mobile robots
International Journal of Robotics Research
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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In this paper, we consider the problem of concurrent assignment and planning of trajectories (which we denote Capt) for a team of robots. This problem involves simultaneously addressing two challenges: (1) the combinatorially complex problem of finding a suitable assignment of robots to goal locations, and (2) the generation of collision-free, time parameterized trajectories for every robot. We consider the Capt problem for unlabeled (interchangeable) robots and propose algorithmic solutions to two variations of the Capt problem. The first algorithm, c-Capt, is a provably correct, complete, centralized algorithm which guarantees collision-free optimal solutions to the Capt problem in an obstacle-free environment. To achieve these strong claims, c-Capt exploits the synergy obtained by combining the two subproblems of assignment and trajectory generation to provide computationally tractable solutions for large numbers of robots. We then propose a decentralized solution to the Capt problem through d-Capt, a decentralized algorithm that provides suboptimal results compared to c-Capt . We illustrate the algorithms and resulting performance through simulation and experimentation.