Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots

Autor:	Guo, Teng, Yu, Jingjin
Rok vydání:	2024
Předmět:	Computer Science - Robotics
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
Externí odkaz:	http://arxiv.org/abs/2402.11767 Zobrazit plný text záznamu View this record from Arxiv