Multiple object semilinear motion planning

Authors:
Andreas Dolzmann;Volker Weispfenning
Affiliations:
University of Passau, Passau, Germany;University of Passau, Passau, Germany
Venue:
Journal of Symbolic Computation
Year:
2007

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Abstract

We present a method based on extended linear real quantifier elimination for multiple object semilinear motion planning, i.e. finding collision-free trajectories for several robots in a time dependent environment. For practical applicability the method is limited to polygonal objects and linear trajectories. It can, however, deal with situations involving even non-convex objects.