Concurrent Goal Assignment and Collision-Free Trajectory Generation for Multiple Aerial Robots

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dc.contributor.authorGravell, Benjamin
dc.contributor.authorSummers, Tyler H.
dc.contributor.utdAuthorGravell, Benjamin
dc.contributor.utdAuthorSummers, Tyler H.
dc.date.accessioned2019-06-19T16:12:17Z
dc.date.available2019-06-19T16:12:17Z
dc.date.created2018-08-29
dc.descriptionFull text access from Treasures at UT Dallas is restricted to current UTD affiliates.
dc.description.abstractWe develop computationally tractable methods for concurrent goal assignment and planning of collision-free trajectories for multiple aerial robot systems. Our method first assigns robots to goals to minimize total time-in-motion, assuming straight-line maximum-speed trajectories. By coupling the assignment and trajectory generation, the initial motion plans tend to require only limited collision resolution. We then refine the plans by checking for potential collisions and resolving them using either start time delays or altitude assignment. Numerical experiments using both methods show significant reductions in the total time required for agents to arrive at goals with only modest additional computational effort in comparison to state-of-the-art prior work.
dc.description.departmentErik Jonsson School of Engineering and Computer Science
dc.identifier.bibliographicCitationGravell, B., and T. Summers. 2018. "Concurrent goal assignment and collision-free trajectory generation for multiple aerial robots." IFAC PapersOnLine 51(12): 75-81, doi:10.1016/j.ifacol.2018.07.091
dc.identifier.issn2405-8963
dc.identifier.issue12
dc.identifier.urihttps://hdl.handle.net/10735.1/6601
dc.identifier.volume51
dc.language.isoen
dc.publisherElsevier B.V.
dc.relation.urihttp://dx.doi.org/10.1016/j.ifacol.2018.07.091
dc.rights©2018 IFAC
dc.source.journalIFAC PapersOnLine
dc.subjectAntennas (Electronics)
dc.subjectManipulators (Mechanism)
dc.subjectRobots
dc.subjectTrajectories (Mechanics)
dc.subjectSpeed
dc.titleConcurrent Goal Assignment and Collision-Free Trajectory Generation for Multiple Aerial Robots
dc.type.genrearticle

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