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Optimal cooperative motion planning for vehicles at intersections

Abstract : We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The main problem is to determine collision-free but also deadlock-free and optimal algorithms. Even with a simple definition of optimality, finding a global optimum is a problem of high complexity, especially for open systems involving a large and varying number of vehicles. This paper advocates the use of a mathematical framework based on a decomposition of the problem into a continuous optimization part and a scheduling problem. The paper emphasizes connections between the usual notion of vehicle priority and an abstract formulation of the scheduling problem in the coordination space. A constructive locally optimal algorithm is proposed. More generally, this work opens up for new computationally efficient cooperative motion planning algorithms.
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Contributor : Jean Gregoire <>
Submitted on : Tuesday, October 29, 2013 - 10:49:26 AM
Last modification on : Wednesday, October 14, 2020 - 3:52:33 AM
Long-term archiving on: : Thursday, January 30, 2014 - 4:36:37 AM


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  • HAL Id : hal-00877765, version 1


Jean Gregoire, Silvère Bonnabel, Arnaud de la Fortelle. Optimal cooperative motion planning for vehicles at intersections. 2012. ⟨hal-00877765⟩



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