This paper focuses on the collision-free coordination of multiple robots with kinodynamic
constraints along specified paths. We present an approach to generate continuous velocity …

In this work, we present Hold Or take Optimal Plan (HOOP), a centralized trajectory
generation algorithm for labeled multi-robot systems operating in obstacle-free, two …

Presents a geometry-based approach for multiple mobile robot motion coordination. The
problem is to coordinate the motions of several robots moving along fixed independent …

Coordinating the motions of multiple robots operating in a shared workspace without
collisions is an important capability. We address the task of coordinating the motions of …

This work makes two contributions to geometric motion planning for multiple robots: 1)
motion plans are computed that simultaneously optimize an independent performance …

This paper investigates the coordination of multiple robots with pre-specified paths,
considering motion safety and minimizing the traveling time. A method to estimate possible …

An optimal control problem to find the fastest collision-free trajectory of a robot surrounded
by obstacles is presented. The collision avoidance is based on linear programming …

Collision avoidance is an absolutely essential requirement for a robot to complete a task in
an environment with obstacles. For kinematically redundant robots, collision avoidance can …

In this paper, we consider the problem of concurrent assignment and planning of trajectories
(which we denote Capt) for a team of robots. This problem involves simultaneously …

Abstract This paper presents Goal Assignment and Planning: a computationally tractable,
complete algorithm for generating dynamically feasible trajectories for NN interchangeable …