Priority-based intersection management with kinodynamic constraints
Résumé
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuators' limitations. We adopt the coordination space approach, which is standard in multiple robot motion planning. Assuming the priorities between robots are assigned in advance, and assuming the existence of a collision-free and deadlock-free trajectory satisfying those priorities, we propose a provably safe trajectory planner satisfying kinodynamic constraints. The algorithm is shown to run in real time, to return safe (collision-free) trajectories, and to be efficient enough, in the sense that the optimality gap remains reasonable. Simulation results on synthetic data illustrate the benefits of the approach. Although the paper is devoted to centralized planning, this work opens some avenues for robust distributed multiple robot motion control.
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