TitleShortest paths for teams of vehicles
Publication TypeConference Paper
Year of Publication2000
Conference NameProc. WAC Int. Symp. on Robotics and Applications
Date PublishedJune
Publication Languageeng
AuthorsPallottino, L, Parlangeli, G, Bicchi, A
KeywordsEmbedded Control, Robotics

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.

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