TY - CHAP T1 - Optimal planning for coordinated vehicles with bounded curvature T2 - Algorithmic and Computational Robotics: New Directions Y1 - 2000 A1 - A. Bicchi A1 - L. Pallottino ED - B. Donald ED - K. Lynch ED - D. Rus KW - Air Traffic Management Systems KW - Autonomous Vehicles KW - Navigation and Planning AB -

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.

JF - Algorithmic and Computational Robotics: New Directions PB - A K Peters, MA VL - 1 N1 -

The Workshop on Algorithmic Foundations of Robotics

ER -