%0 Conference Paper %B Proc. WAC Int. Symp. on Robotics and Applications %D 2000 %T Shortest paths for teams of vehicles %A L. Pallottino %A G. Parlangeli %A A. Bicchi %K Embedded Control %K Robotics %X

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.

%B Proc. WAC Int. Symp. on Robotics and Applications %P 124-129 %8 June %G eng