TitleOptimal planning for coordinated vehicles with bounded curvature
Publication TypeBook Chapter
Year of Publication2000
AuthorsBicchi, A, Pallottino, L
EditorDonald, B, Lynch, K, Rus, D
Book TitleAlgorithmic and Computational Robotics: New Directions
PublisherA K Peters, MA
KeywordsAir Traffic Management Systems, Autonomous Vehicles, Navigation and Planning
AbstractIn this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.
NotesThe Workshop on Algorithmic Foundations of Robotics
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