Asynchronous Real-time Decentralized Multi-Robot Trajectory Planning
Baskin Şenbaşlar,Gaurav S. Sukhatme,Baskin Şenbaşlar,Gaurav S. Sukhatme
We present a novel overconstraining and constraint-discarding method for asynchronous, real-time, decentralized, multi-robot trajectory planning that ensures collision avoidance. Our approach utilizes communication between robots. The communication medium is best-effort: messages may be dropped, re-ordered or delayed. Robots conservatively constrain themselves against others assuming they may be w...
