Multi-robot trajectory adaptation using a state-time elastic band approach
|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|
|Prerequisites||recommended: intelligent vehicles, design of embedded intelligent systems, or similar; strong in math and programming|
|Supervisor||Roland Philippsen, Jennifer David|
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
...many others, no time to flesh it out right now. Write me an email or drop by to see me and chat!