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Trajectory Planning and Assignment in Multirobot Systems
Springer Tracts in Advanced Robotics
In this paper, we consider the problem of tasking large numbers of homogenous robots to move to a set of specified goal locations, addressing both the assignment and trajectory planning subproblems concurrently. This is related to the standard linear Euclidean assignment problem except that the solution to the trajectory generation subproblem must result in timeparameterized trajectories and guarantee collision avoidance. We begin with a centralized approach and derive an optimal centralizeddoi:10.1007/978-3-642-36279-8_11 fatcat:ezrzbisieneujkykam6nsx2cei