Tantan Zhang

Fast and Optimal Trajectory Planning for Multiple Vehicles in a Nonconvex and Cluttered Environment: Benchmarks, Methodology, and Experiments

This paper is focused on the cooperative trajectory planning problem for multiple car-like robots in a cluttered and unstructured environment narrowed by static obstacles. The concerned multi-vehicle trajectory planning (MVTP) problem is challenging because i) the scenario is nonconvex and tiny; ii)…