00960nas a2200169 4500008004100000245004100041210004100082260000900123300001200132520047300144653002100617653001300638100001900651700001800670700001500688856008700703 2000 eng d00aShortest paths for teams of vehicles0 aShortest paths for teams of vehicles cJune a124-1293 a
In this paper we consider the problem of planning motions of a team of vehicles that move in a planar environment. 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. When manipulating a common object cooperatively, further constraints apply. For such systems, we consider the problem of planning optimal paths in the absence of obstacles.
10aEmbedded Control10aRobotics1 aPallottino, L.1 aParlangeli, G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/shortest-paths-teams-vehicles.html