Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots
Autor: | Guo, Teng, Yu, Jingjin |
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Rok vydání: | 2024 |
Předmět: | |
Druh dokumentu: | Working Paper |
Popis: | Path planning for multiple non-holonomic robots in continuous domains constitutes a difficult robotics challenge with many applications. Despite significant recent progress on the topic, computationally efficient and high-quality solutions are lacking, especially in lifelong settings where robots must continuously take on new tasks. In this work, we make it possible to extend key ideas enabling state-of-the-art (SOTA) methods for multi-robot planning in discrete domains to the motion planning of multiple Ackerman (car-like) robots in lifelong settings, yielding high-performance centralized and decentralized planners. Our planners compute trajectories that allow the robots to reach precise $SE(2)$ goal poses. The effectiveness of our methods is thoroughly evaluated and confirmed using both simulation and real-world experiments. Comment: ICRA 2024 |
Databáze: | arXiv |
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