01285nas a2200217 4500008004100000245006900041210006900110260001900179300001200198490000600210520057900216653003500795653002400830653002800854100001500882700001900897700001400916700001300930700001100943856011300954 2000 eng d00aOptimal planning for coordinated vehicles with bounded curvature0 aOptimal planning for coordinated vehicles with bounded curvature bA K Peters, MA a167-1720 v13 a
In 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.
10aAir Traffic Management Systems10aAutonomous Vehicles10aNavigation and Planning1 aBicchi, A.1 aPallottino, L.1 aDonald, B1 aLynch, K1 aRus, D uhttps://www.centropiaggio.unipi.it/publications/optimal-planning-coordinated-vehicles-bounded-curvature.html