Scalable Decentralized Multi-Robot Trajectory Optimization in Continuous-Time
This article presents a decentralized algorithm that generates continuous-time trajectory online for a swarm of robots based upon model predictive control. To generate collision-free trajectory, temporally distinct safe regions are formed such that the robots are confined to move within these safe r...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9199826/ |