| Title | Optimal planning for coordinated vehicles with bounded curvature |
| Publication Type | Book Chapter |
| Year of Publication | 2000 |
| Authors | Bicchi, A, Pallottino, L |
| Editor | Donald, B, Lynch, K, Rus, D |
| Book Title | Algorithmic and Computational Robotics: New Directions |
| Volume | 1 |
| Pagination | 167-172 |
| Publisher | A K Peters, MA |
| Keywords | Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning |
| Abstract | 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. |
| Notes | The Workshop on Algorithmic Foundations of Robotics |
[PDF]