IROS 2016poster30 citations
Time-optimal coordination of mobile robots along specified paths
Florent Altché, Xiangjun Qian, Arnaud de La Fortelle
Abstract
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover, unlike previous work found in the literature, our formulation allows an exact linear modeling (up to the discretization resolution) of second-order dynamic constraints. Extensive simulations are performed to demonstrate the effectiveness of our approach.
BibTeX
@inproceedings{iros2016_timeoptimalcoord,
title = {Time-optimal coordination of mobile robots along specified paths},
author = {Florent Altché and Xiangjun Qian and Arnaud de La Fortelle},
booktitle = {IROS 2016},
year = {2016}
}