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/abs/1603.04610]

* [http://arxiv.org/pdf/1603.04610 http://arxiv.org/pdf/1603.04610]

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

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

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