文章基本信息

标题：Concurrent Goal Assignment and Collision-Free Trajectory Generation for Multiple Aerial Robots
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作者：Benjamin Gravell ; Tyler Summers
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：12
页码：75-81
DOI：10.1016/j.ifacol.2018.07.091
语种：English
出版社：Elsevier
摘要：AbstractWe develop computationally tractable methods for concurrent goal assignment and planning of collision-free trajectories for multiple aerial robot systems. Our method first assigns robots to goals to minimize total time-in-motion, assuming straight-line maximum-speed trajectories. By coupling the assignment and trajectory generation, the initial motion plans tend to require only limited collision resolution. We then refine the plans by checking for potential collisions and resolving them using either start time delays or altitude assignment. Numerical experiments using both methods show significant reductions in the total time required for agents to arrive at goals with only modest additional computational effort in comparison to state-of-the-art prior work.