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• W2950295088 abstract "We describe a novel approach for computing collision-free emph{global} trajectories for $p$ agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM). Compared with existing methods, our approach is naturally parallelizable and allows for incorporating different cost functionals with only minor adjustments. We apply our method to classical challenging instances and observe that its computational requirements scale well with $p$ for several cost functionals. We also show that a specialization of our algorithm can be used for {em local} motion planning by solving the problem of joint optimization in velocity space." @default.
• W2950295088 created "2019-06-27" @default.
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• W2950295088 date "2013-11-18" @default.
• W2950295088 modified "2023-09-30" @default.
• W2950295088 title "A message-passing algorithm for multi-agent trajectory planning" @default.
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• W2950295088 hasPublicationYear "2013" @default.
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