DC-CAPT: Concurrent Assignment and Planning of Trajectories for Dubins Cars
Michael Whitzer,Daigo Shishika,Dinesh Thakur,Vijay Kumar,Amanda Prorok,Michael Whitzer,Daigo Shishika,Dinesh Thakur,Vijay Kumar,Amanda Prorok
We present an algorithm for the concurrent assignment and planning of collision-free trajectories (DC-CAPT) for robots whose kinematics can be modeled as Dubins cars, i.e., robots constrained in terms of their initial orientation and their minimum turning radius. Coupling the assignment and trajectory planning subproblems allows for a computationally tractable solution. This solution is guaranteed...
