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Decoupled multiagent path planning via incremental sequential convex programming

Yufan Chen, Mark Cutler, Jonathan P. How
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
This paper presents a multiagent path planning algorithm based on sequential convex programming (SCP) that finds locally optimal trajectories.  ...  Previous work using SCP efficiently computes motion plans in convex spaces with no static obstacles.  ...  CONCLUSION This paper has developed the incremental sequential convex programming (iSCP) algorithm for multiagent path planning.  ... 
doi:10.1109/icra.2015.7140034 dblp:conf/icra/ChenCH15 fatcat:dmcuib7hbnda3lyooyayemzwsm

2013 Index IEEE Transactions on Automatic Control Vol. 58

2013 IEEE Transactions on Automatic Control  
-Z., +, TAC April 2013 1074-1080 Convex programming A Distributed Control Strategy for Reactive Power Compensation in Smart Microgrids.  ...  Liao, H., +, TAC May 2013 1123-1138 Concave programming An Approximate Dual Subgradient Algorithm for Multi-Agent Non-Convex Optimization.  ... 
doi:10.1109/tac.2013.2295962 fatcat:3zpqog4r4nhoxgo4vodx4sj3l4

Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms [article]

Xin Zhou, Zhepei Wang, Xiangyong Wen, Jiangchao Zhu, Chao Xu, Fei Gao
2021 arXiv   pre-print
Moreover, a decentralized asynchronous mechanism is designed to trigger the local planning for each agent.  ...  This report introduces decentralized spatial-temporal trajectory planning, which puts a well-formed trajectory representation named MINCO into multi-agent scenarios.  ...  [3] implements SCP for multiagent trajectory planning in non-convex scenarios by tightening collision constraints incrementally.  ... 
arXiv:2106.12481v2 fatcat:gfykjkbprnajjh7tmje7sc4q64

2020 Index IEEE Transactions on Control Systems Technology Vol. 28

2020 IEEE Transactions on Control Systems Technology  
., +, TCST Nov. 2020 2445-2460 Iterative Learning-Based Path Optimization for Repetitive Path Planning, With Application to 3-D Crosswind Flight of Airborne Wind Energy Systems.  ...  Diaz, H., +, TCST March 2020 477-488 Iterative Learning-Based Path Optimization for Repetitive Path Planning, With Application to 3-D Crosswind Flight of Airborne Wind Energy Sys- tems.  ... 
doi:10.1109/tcst.2020.3047034 fatcat:iin2gzukmbadhbln2qf25c4v6a

Distributed Optimal Control of Multiscale Dynamical Systems: A Tutorial

2016 IEEE Control Systems  
His research interests include approximate dynamic programming, optimal control of mobile sensor networks, signal processing, machine learning, and neural networks. He is a Member of the IEEE.  ...  She is the director of the Laboratory for Intelligent Systems and Controls, and her principal research interests include robust adaptive control of aircraft, learning and approximate dynamic programming  ...  This class of problems, commonly known as multiagent path planning, is known to be computationally very burdensome for large numbers of agents.  ... 
doi:10.1109/mcs.2015.2512034 fatcat:gks3a2r2ejhptkzu7ngjlbgsgy

MADER: Trajectory Planner in Multi-Agent and Dynamic Environments [article]

Jesus Tordesillas, Jonathan P. How
2021 arXiv   pre-print
This paper presents MADER, a 3D decentralized and asynchronous trajectory planner for UAVs that generates collision-free trajectories in environments with static obstacles, dynamic obstacles, and other planning  ...  uses our recently developed MINVO basis to obtain outer polyhedral representations with volumes 2.36 and 254.9 times, respectively, smaller than the Bernstein or B-Spline bases used extensively in the planning  ...  approach (RBP 3 , [27] ). • Distributed model predictive control (DMPC 4 , [31] ). • Decoupled incremental sequential convex programming (dec_iSCP 4 , [28] ). • Search-based motion planing ([32] 5  ... 
arXiv:2010.11061v2 fatcat:xity7flphbcghlkmutcfz52r6e

2007 Index IEEE Transactions on Automatic Control Vol. 52

2007 IEEE Transactions on Automatic Control  
., +, TAC Jan. 2007 67-72 Path planning Path-Following for Nonlinear Systems With Unstable Zero Dynamics. Dacic, D.  ...  Continuous Time Linear Quadratic Regulator With Control Constraints via Convex Duality.  ...  2269 A Framework for Worst-Case and Stochastic Safety Verification Using Barrier Certificates. 1415 -1428 An Asymptotically Efficient Simulation-Based Algorithm for Finite Horizon Stochastic Dynamic Programming  ... 
doi:10.1109/tac.2007.913948 fatcat:vpztpth7jnhk7b5o5bt2nyrrdm

2014 Index IEEE Transactions on Automatic Control Vol. 59

2014 IEEE Transactions on Automatic Control  
Wang, G., +, TAC Feb. 2014 522-528 System Identification Via Sparse Multiple Kernel-Based Regularization Using Sequential Convex Optimization Techniques.  ...  Haber, A., +, TAC Oct. 2014 2754-2759 System Identification Via Sparse Multiple Kernel-Based Regularization Using Sequential Convex Optimization Techniques.  ... 
doi:10.1109/tac.2014.2382720 fatcat:jah5kqkafvejrd7xpvyikmi53e

2015 Index IEEE Transactions on Automatic Control Vol. 60

2015 IEEE Transactions on Automatic Control  
Fuchs, A., +, TAC Dec. 2015 3328-3331 Path planning A Geometric Transversals Approach to Sensor Motion Planning for Tracking Maneuvering Targets.  ...  Kulkarni, A.A., +, TAC Dec. 2015 3379-3384 Robust Distributed Linear Programming. Richert, D., +, TAC Oct. 2015 2567-2582 Sequential Randomized Algorithms for Robust Convex Optimization.  ... 
doi:10.1109/tac.2015.2512305 fatcat:5gut6qeomfh73fwfvehzujbr5q

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception and Active Vision

Jorge Pena Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 IEEE Access  
For instance, in [139] , Xie et al. presented a path planning algorithm for UAVs covering disjoint convex regions.  ...  A detailed description of path planning algorithms including approaches of linear programming, control theory, multi-objective optimization models, probabilistic models, and meta-heuristic models for different  ...  He has served in the Technical Program Committees for all major conferences in his area.  ... 
doi:10.1109/access.2020.3030190 fatcat:exigopjplzgfzlghxvr7s3l3di

Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception [article]

Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund
2020 arXiv   pre-print
For instance, in [152] , Xie et al. presented a path planning algorithm for UAVs covering disjoint convex regions.  ...  The paper presents an autonomous Sequential Decision Process (SDP) to control UAV navigation under uncertainty as a multi-objective problem comprising path planning, obstacle avoidance, motion control,  ... 
arXiv:2008.12610v1 fatcat:hq5lqtnsoreapjm4dpgg4z5xki

Methods for Collision-Free Navigation of Multiple Mobile Robots in Unknown Cluttered Environments [article]

Michael Hoy
2014 arXiv   pre-print
The main contributions of this work are as follows; firstly, the integration of the robust model predictive control concept with reactive navigation strategies based on local path planning, which is applied  ...  decentralized coordination of multiple vehicles using a robust model predictive control type approach, where a single communication exchange is used per control update, vehicles are allowed to perform planning  ...  . • Mathematical programming and optimization. This usually is achieved using Mixed Integer Linear Programming (MILP) constraints to model obstacles as multiple convex polygons [3] .  ... 
arXiv:1401.6775v1 fatcat:mkjwxvzynfegpfsxqivwobuuru

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems [article]

Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar
2021 arXiv   pre-print
We address these questions across foundational robotics domains, spanning perception, control, planning, and learning.  ...  [190] decouple vehicle routing and passenger to account for uncertain future demand. 5) Path-planning: Similar to some pre-operative planning approaches, Zhou et al.  ...  Take for example the multi-agent path planning problem.  ... 
arXiv:2109.12343v1 fatcat:vxt62eluljfelcifzdlosv34cq

Structural Results for Partially Observed Markov Decision Processes [article]

Vikram Krishnamurthy
2015 arXiv   pre-print
We use lattice program- ming methods to characterize the structure of the optimal policy of a POMDP without brute force computations.  ...  So the problem decouples into solving individual control problems for each process.  ...  The optimal policy µ * can be computed via the dynamic programming recursion (2.15) where T and σ are defined in (2.38).  ... 
arXiv:1512.03873v1 fatcat:a4kzsrwzqrf23al3bv44q6lpaq

2019-2020 Index IEEE Transactions on Industrial Electronics Vol. 67

2020 IEEE transactions on industrial electronics (1982. Print)  
., Hydrothermal Aging Factor Estimation for Two-Cell Diesel-Engine SCR Systems via a Dual Time-Scale Unscented Kalman Filter; TIE Jan. 2020 442-450 Jiang, K., Yan, F., and Zhang, H., Data-Driven Modeling  ...  Li, H., +, TIE June 2020 4411-4421 Convex programming A Novel Scheme of Nonfragile Controller Design for Periodic Piecewise LTV Systems.  ...  Sun, J., +, TIE Dec. 2020 10931-10941 Optimal Path Planning Using Generalized Voronoi Graph and Multiple Potential Functions.  ... 
doi:10.1109/tie.2020.3045338 fatcat:gljm7ngg3fakvmnfswcbb5vwiu
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