2021
Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization
RA-L 2021
This letter is focused on the time-optimal Multi-Vehicle Trajectory Planning (MVTP) problem for multiple car-like robots when they travel in a tiny indoor scenario occupied by static obstacles. Herein, the complexity of the concerned MVTP task includes i) the non-convexity and narrowness of the envi