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- Publisher Website: 10.1109/ICRA.2017.7989507
- Scopus: eid_2-s2.0-85028001413
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Conference Paper: Efficient multi-agent global navigation using interpolating bridges
Title | Efficient multi-agent global navigation using interpolating bridges |
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Authors | |
Issue Date | 2017 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2017, p. 4391-4398 How to Cite? |
Abstract | We present a novel approach for collision-free global navigation for continuous-time multi-agent systems with general linear dynamics. Our approach is general and can be used to perform collision-free navigation in 2D and 3D workspaces with narrow passages and crowded regions. As part of pre-computation, we compute multiple bridges in the narrow or tight regions in the workspace using kinodynamic RRT algorithms. Our bridge has certain geometric properties that enable us to calculate a collision-free trajectory for each agent using simple interpolation at runtime. Moreover, we combine interpolated bridge trajectories with local multi-agent navigation algorithms to compute global collision-free paths for each agent. The overall approach combines the performance benefits of coupled multi-agent algorithms with the precomputed trajectories of the bridges to handle challenging scenarios. In practice, our approach can perform global navigation for tens to hundreds of agents on a single CPU core in 2D and 3D workspaces. |
Persistent Identifier | http://hdl.handle.net/10722/308891 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | He, Liang | - |
dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Manocha, Dinesh | - |
dc.date.accessioned | 2021-12-08T07:50:21Z | - |
dc.date.available | 2021-12-08T07:50:21Z | - |
dc.date.issued | 2017 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2017, p. 4391-4398 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/308891 | - |
dc.description.abstract | We present a novel approach for collision-free global navigation for continuous-time multi-agent systems with general linear dynamics. Our approach is general and can be used to perform collision-free navigation in 2D and 3D workspaces with narrow passages and crowded regions. As part of pre-computation, we compute multiple bridges in the narrow or tight regions in the workspace using kinodynamic RRT algorithms. Our bridge has certain geometric properties that enable us to calculate a collision-free trajectory for each agent using simple interpolation at runtime. Moreover, we combine interpolated bridge trajectories with local multi-agent navigation algorithms to compute global collision-free paths for each agent. The overall approach combines the performance benefits of coupled multi-agent algorithms with the precomputed trajectories of the bridges to handle challenging scenarios. In practice, our approach can perform global navigation for tens to hundreds of agents on a single CPU core in 2D and 3D workspaces. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Efficient multi-agent global navigation using interpolating bridges | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICRA.2017.7989507 | - |
dc.identifier.scopus | eid_2-s2.0-85028001413 | - |
dc.identifier.spage | 4391 | - |
dc.identifier.epage | 4398 | - |