Locally-optimal multi-robot navigation under delaying disturbances using homotopy constraints

Locally-optimal multi-robot navigation under delaying disturbances using homotopy constraints

We study the problem of reliable motion coordination strategies for teams of mobile robots when any of the robots can be temporarily stopped by an exogenous disturbance at any time. We assume that an arbitrary multi-robot planner initially provides coordinated trajectories computed without consideri...

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Bibliographic Details
Main Authors: Gregoire, Jean Matthieu Marie (Contributor), Cap, Michal (Contributor), Frazzoli, Emilio (Contributor)
Other Authors: Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor), Massachusetts Institute of Technology. Department of Physics (Contributor), Massachusetts Institute of Technology. Department of Urban Studies and Planning (Contributor), Massachusetts Institute of Technology. Laboratory for Information and Decision Systems (Contributor)
Format: Article
Language:English
Published: Springer US, 2018-06-26T13:46:43Z.
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