%0 Book Section %B Algorithmic and Computational Robotics: New Directions %D 2000 %T Optimal planning for coordinated vehicles with bounded curvature %A A. Bicchi %A L. Pallottino %E B. Donald %E K. Lynch %E D. Rus %K Air Traffic Management Systems %K Autonomous Vehicles %K Navigation and Planning %X

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.

%B Algorithmic and Computational Robotics: New Directions %I A K Peters, MA %V 1 %P 167-172 %G eng