Time-optimal Coordination of Mobile Robots along Specified Paths

Abstract

In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover, unlike previous work found in the literature, our formulation allows an exact linear modeling (up to the discretization resolution) of second-order dynamic constraints. Extensive simulations are performed to demonstrate the effectiveness of our approach.

Comment: Published in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Original document

The different versions of the original document can be found in:

• http://arxiv.org/abs/1603.04610

• http://arxiv.org/pdf/1603.04610

• http://xplorestaging.ieee.org/ielx7/7743711/7758082/07759737.pdf?arnumber=7759737,

http://dx.doi.org/10.1109/iros.2016.7759737

• https://dblp.uni-trier.de/db/journals/corr/corr1603.html#AltcheQF16,

https://arxiv.org/pdf/1603.04610.pdf,

https://arxiv.org/abs/1603.04610,

https://ui.adsabs.harvard.edu/abs/2016arXiv160304610A/abstract,

https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141,

https://ieeexplore.ieee.org/document/7759737,

https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/document,

https://128.84.21.199/abs/1603.04610,

https://au.arxiv.org/abs/1603.04610,

https://uk.arxiv.org/pdf/1603.04610,

https://dumas.ccsd.cnrs.fr/ENSMP_CAOR/hal-01360141v1,

https://au.arxiv.org/pdf/1603.04610,

https://ru.arxiv.org/abs/1603.04610,

https://export.arxiv.org/abs/1603.04610,

https://www.mysciencework.com/publication/show/time-optimal-coordination-mobile-robots-along-specified-paths-09f19e48,

https://fr.arxiv.org/abs/1603.04610,

https://uk.arxiv.org/abs/1603.04610,

https://fr.arxiv.org/pdf/1603.04610,

https://aps.arxiv.org/pdf/1603.04610,

https://export.arxiv.org/pdf/1603.04610,

https://ru.arxiv.org/pdf/1603.04610,

https://academic.microsoft.com/#/detail/2301019454

• https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141,

https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/document,

https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/file/iros2016.pdf