Generation of Synchronized Configuration Space Trajectories of Multi-Robot Systems
作者： Ariyan M. Kabir , Alec Kanyuck , Rishi K. Malhan , Aniruddha V. Shembekar , Shantanu Thakar
DOI: 10.1109/ICRA.2019.8794275
关键词:
摘要: We pose the problem of path-constrained trajectory generation for synchronous motion multi-robot systems as a non-linear optimization problem. Our method determines appropriate parametric representation configuration variables, generates an approximate solution starting point method, and uses successive refinement techniques to solve in computationally efficient manner. have demonstrated effectiveness proposed on challenging simulation physical experiments with high degrees freedom robotic systems.
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