Trajectory Planning for Time-Constrained Agent Synchronization

  • Yaroslav MarchukovEmail author
  • Luis MontanoEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1092)


In the present paper we focus on the problem of synchronizing two agents in movement. An agent, knowing the trajectory of a teammate who it must exchange data with, has to obtain a trajectory to synchronize with this mate before going to its own goal. We develop the trajectory planner for the agent that it is constrained by the time to synchronize with the mate. Firstly, we define the dynamic communication area, produced by a teammate agent in movement, as well as the different parts of this area, used by the proposed planner. Then, we develop a method to obtain trajectories for an agent in order to be able to synchronize with a teammate in movement, whose trajectory is known. Simulated results show that the proposed approach is able to provide the solution according to two chosen criteria: distance or time.


Connectivity constraints Trajectory planning 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Instituto de Investigación en Ingeniería de Aragón (I3A)University of ZaragozaZaragozaSpain

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