Obstacle avoidance between polytopes is a chal-lenging topic for optimal control and
optimization-based tra-jectory planning problems. Existing work either solves this problem …

Recently, autonomous mobile robots have gained popularity in the modern world due to
their relevance technology and application in real world situations. The global market for …

Autonomous motion planning is challenging in multi-obstacle environments due to
nonconvex collision avoidance constraints. Directly applying numerical solvers to these …

With the increasing number of ships on the sea, the frequency multi-ship encounters
situation was becoming more common than two-ship encounter. The complexity and risk of …

Communication delays can be catastrophic for multiagent systems. However, most existing
state-of-the-art multiagent trajectory planners assume perfect communication and therefore …

Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole
space of intersections and cross in a lane-free order. This article formulates such a lane-free …

Fully decentralized, multiagent trajectory planners enable complex tasks like search and
rescue or package delivery by ensuring safe navigation in unknown environments …

Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing
works simplify the system dynamics or consider it as a convex or non-convex optimization …

This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based
Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner …

Safe navigation is a fundamental challenge in multi-robot systems due to the uncertainty
surrounding the future trajectory of the robots that act as obstacles for each other. In this …