DiMOpt: a Distributed Multi-robot Trajectory Optimization Algorithm
João Salvado,Masoumeh Mansouri,Federico Pecora,João Salvado,Masoumeh Mansouri,Federico Pecora
This paper deals with Multi-robot Trajectory Planning, that is, the problem of computing trajectories for multiple robots navigating in a shared space while minimizing for control energy. Approaches based on trajectory optimization can solve this problem optimally. However, such methods are hampered by complex robot dynamics and collision constraints that couple robot's decision variables. We prop...
