Efficient Multi-Agent Trajectory Planning with Feasibility Guarantee using Relative Bernstein Polynomial
Jungwon Park,Junha Kim,Inkyu Jang,H. Jin Kim,Jungwon Park,Junha Kim,Inkyu Jang,H. Jin Kim
This paper presents a new efficient algorithm which guarantees a solution for a class of multi-agent trajectory planning problems in obstacle-dense environments. Our algorithm combines the advantages of both grid-based and optimization-based approaches, and generates safe, dynamically feasible trajectories without suffering from an erroneous optimization setup such as imposing infeasible collision...
