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In this work, we consider the labeled multi-robot planning problem. In this paradigm, a team of robots at fixed start positions must navigate to pre-specified and noninterchangable goal positions. While many algorithms have been proposed for finding optimal solutions to this problem, most methods assume that the robots are kinematic agents, whereas in reality, robots often have high-order dynamics...
We address the problem of developing feedback controllers for a group of robots with second-order dynamics in an obstacle-filled, D-dimensional environment. Our control algorithm takes into account communication constraints, obstacle avoidance, and inter-robot collision avoidance, by synthesizing a piecewise smooth vector field for safe navigation. First, the feasible free joint configuration space...
We propose a scheme to deal simultaneously with local motion planning and dynamic control of redundant cooperative robots subject to holonomic, posture and loop-closure constraints. In contrast to previous contributions, an iterative method, that glue together the problem of kinematic motion planning with dynamic control, generates the sequence of feasible collision-free motions by combining in a...
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