Multi-robot trajectory adaptation using a state-time elastic band approach

From ISLAB/CAISR
Title Multi-robot trajectory adaptation using a state-time elastic band approach
Summary For teams of robots moving through dynamic environments, deform planned trajectories in space and time such that they remain collision-free and reach the goal (if possible) or report failure if replanning is needed.
Keywords multi-robot planning, multi-robot coordination, obstacle avoidance, velocity-space obstacle
TimeFrame tbd
References tbd
Prerequisites recommended: intelligent vehicles, design of embedded intelligent systems, or similar; strong in math and programming
Author
Supervisor Roland Philippsen, Jennifer David
Level Master
Status Open

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Revisiting some research topics that appear to have calmed down with fresh ideas...

http://robotics.unizar.es/data/documentos/dynamic-IROS05.pdf http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01icra.pdf http://homepages.laas.fr/nic/Papers/02itra.pdf http://hal.archives-ouvertes.fr/docs/00/25/93/21/PDF/99-fraichard-rsjar.pdf