Abstract
Given a collection of robots sharing a common environment, assume that each possesses an individual roadmap for its C-space and a cost function for attaining a goal. Vector-valued (or Pareto) optima for collision-free coordination are by no means unique: in fact, continua of optimal coordinations are possible. However, for cylindrical obstacles (those defined by pairwise interactions), we prove a finite bound on the number of optimal coordinations. For such systems, we present an exact algorithm for reducing a coordination scheme to its Pareto optimal representative.
Supported by NSF PECASE DMS-0337713 [RG] and NSF IIS-0296126 [JO,SL].
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Ghrist, R., O’Kane, J.M., LaValle, S.M. Pareto Optimal Coordination on Roadmaps. In: Erdmann, M., Overmars, M., Hsu, D., van der Stappen, F. (eds) Algorithmic Foundations of Robotics VI. Springer Tracts in Advanced Robotics, vol 17. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991541_13
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DOI: https://doi.org/10.1007/10991541_13
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Publisher Name: Springer, Berlin, Heidelberg
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