NDLI: A duality approach to path planning for multiple robots

Content Provider	IEEE Xplore Digital Library
Author	Motee, N. Jadbabaie, A. Pappas, G.
Copyright Year	2010
Description	Author affiliation: Department of Electrical and Systems Engineering and GRASP Laboratory, University of Pennsylvania, 200 South 33rd Street, Philadelphia, 19104 USA (Jadbabaie, A.; Pappas, G.) \|\| Control and Dynamical Systems Department, California Institute of Technology, 1200 E., Pasadena, 91125 USA (Motee, N.)
Abstract	In this paper, we propose an optimization-based framework for path planning for multiple robots in presence of obstacles. The objective is to find multiple fixed length paths for multiple robots that satisfy the following constraints: (i) bounded curvature, (ii) obstacle avoidance, (iii) and collision avoidance. First, we formulate a relaxation of the path planning problem using polygonal approximations. We show that path planning problem for multiple robots under various constraints and missions, such as curvature and obstacle avoidance constraints as well as rendezvous and maximal total area coverage, can be cast as a nonconvex optimization problem. Then, we propose an alternative dual formulation that results in no duality gap. We show that the alternative dual function can be interpreted as minimum potential energy of a multi-particle system with discontinuous spring-like forces. Finally, we show that using the proposed duality-based framework, an approximation of the minimal length path planning problem (also known as Dubins' problem) in presence of obstacles can be solved efficiently using primal-dual interior-point methods.
Starting Page	935
Ending Page	940
File Size	369781
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509836
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Robotics and automation Constraint optimization USA Councils Collision avoidance Potential energy Robot control Kinematics Orbital robotics Polynomials
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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