Optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained Optimization.
Bai LiYakun OuyangYoumin ZhangTankut AcarmanQi KongZhijiang ShaoPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- constrained optimization
- mobile robot
- cooperative
- motion planning
- multiple robots
- constrained optimization problems
- constraint handling
- path planning
- objective function
- robotic systems
- collision free
- dynamic environments
- sensory information
- closed form solutions
- lagrange multipliers
- collision avoidance
- autonomous robots
- augmented lagrangian
- unconstrained optimization
- interval analysis
- robotic agents
- optimal design
- penalty function
- closed loop
- multi robot
- optimal solution
- neural network
- feedback control
- robot teams
- adaptive control
- multi agent
- dynamic programming
- penalty functions
- linear programming
- inequality constraints
- genetic programming
- fitness function
- iterative methods
- humanoid robot
- control scheme