ICRA 2019poster45 citations
Generation of Synchronized Configuration Space Trajectories of Multi-Robot Systems
Ariyan M. Kabir, Alec Kanyuck, Rishi K. Malhan, Aniruddha V. Shembekar, Shantanu Thakar, Brual C. Shah, Satyandra K. Gupta
Abstract
We pose the problem of path-constrained trajectory generation for the synchronous motion of multi-robot systems as a non-linear optimization problem. Our method determines appropriate parametric representation for the configuration variables, generates an approximate solution as a starting point for the optimization method, and uses successive refinement techniques to solve the problem in a computationally efficient manner. We have demonstrated the effectiveness of the proposed method on challenging simulation and physical experiments with high degrees of freedom robotic systems.
BibTeX
@inproceedings{icra2019_generationofsync,
title = {Generation of Synchronized Configuration Space Trajectories of Multi-Robot Systems},
author = {Ariyan M. Kabir and Alec Kanyuck and Rishi K. Malhan and Aniruddha V. Shembekar and Shantanu Thakar and Brual C. Shah and Satyandra K. Gupta},
booktitle = {ICRA 2019},
year = {2019}
}