FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4293254231> ?p ?o ?g. }

• W4293254231 endingPage "6430" @default.
• W4293254231 startingPage "6423" @default.
• W4293254231 abstract "Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP) methods in the literature adopt de-coupled approaches that sacrifice either optimality or dynamic feasibility. In this letter, we present a convexification method, namely “parabolic relaxation,” to generate dynamically feasible trajectories for MRMP in the coupled joint-space of all robots. Furthermore, we prove that the resulting trajectories satisfy the Karush-Kuhn-Tucker optimality conditions. We leverage upon the proposed relaxation to tackle the problem complexity and to attain computational tractability for planning over one hundred robots in extremely clustered environments. We take a multi-stage optimization approach that consists of i) mathematically formulating MRMP as a non-convex optimization, ii) lifting the problem into a higher dimensional space, iii) convexifying the problem through the proposed computationally efficient parabolic relaxation, and iv) penalizing with sequential search to ensure the recovery of feasible and near-optimal solutions to the original problem. Our numerical experiments demonstrate that the proposed approach is capable of tackling challenging motion planning problems with higher success rate than the state-of-the-art, yet remain computationally tractable for over one hundred robots in a highly dense environment." @default.
• W4293254231 created "2022-08-27" @default.
• W4293254231 creator A5015341130 @default.
• W4293254231 creator A5025079996 @default.
• W4293254231 creator A5061388146 @default.
• W4293254231 creator A5084825570 @default.
• W4293254231 date "2022-07-01" @default.
• W4293254231 modified "2023-10-03" @default.
• W4293254231 title "Multi-Robot Motion Planning via Parabolic Relaxation" @default.
• W4293254231 cites W192919555 @default.
• W4293254231 cites W1964462572 @default.
• W4293254231 cites W1967907012 @default.
• W4293254231 cites W1989407213 @default.
• W4293254231 cites W1991482882 @default.
• W4293254231 cites W2067754486 @default.
• W4293254231 cites W2084916646 @default.
• W4293254231 cites W2123030512 @default.
• W4293254231 cites W2124015815 @default.
• W4293254231 cites W2125240595 @default.
• W4293254231 cites W2133067819 @default.
• W4293254231 cites W2136323427 @default.
• W4293254231 cites W2155313135 @default.
• W4293254231 cites W2241357751 @default.
• W4293254231 cites W2241553860 @default.
• W4293254231 cites W2473378532 @default.
• W4293254231 cites W2573311857 @default.
• W4293254231 cites W2588802774 @default.
• W4293254231 cites W2739557431 @default.
• W4293254231 cites W2756396767 @default.
• W4293254231 cites W2770875486 @default.
• W4293254231 cites W2777057360 @default.
• W4293254231 cites W2787876816 @default.
• W4293254231 cites W2801990756 @default.
• W4293254231 cites W2886374915 @default.
• W4293254231 cites W2886401384 @default.
• W4293254231 cites W2962862352 @default.
• W4293254231 cites W2963095472 @default.
• W4293254231 cites W2963223119 @default.
• W4293254231 cites W2963534555 @default.
• W4293254231 cites W2963889167 @default.
• W4293254231 cites W3091037752 @default.
• W4293254231 cites W3101014297 @default.
• W4293254231 cites W4293254231 @default.
• W4293254231 doi "https://doi.org/10.1109/lra.2022.3171075" @default.
• W4293254231 hasPublicationYear "2022" @default.
• W4293254231 type Work @default.
• W4293254231 citedByCount "1" @default.
• W4293254231 countsByYear W42932542312022 @default.
• W4293254231 crossrefType "journal-article" @default.
• W4293254231 hasAuthorship W4293254231A5015341130 @default.
• W4293254231 hasAuthorship W4293254231A5025079996 @default.
• W4293254231 hasAuthorship W4293254231A5061388146 @default.
• W4293254231 hasAuthorship W4293254231A5084825570 @default.
• W4293254231 hasConcept C104114177 @default.
• W4293254231 hasConcept C112680207 @default.
• W4293254231 hasConcept C11413529 @default.
• W4293254231 hasConcept C121332964 @default.
• W4293254231 hasConcept C126255220 @default.
• W4293254231 hasConcept C137836250 @default.
• W4293254231 hasConcept C142724271 @default.
• W4293254231 hasConcept C153083717 @default.
• W4293254231 hasConcept C154945302 @default.
• W4293254231 hasConcept C15744967 @default.
• W4293254231 hasConcept C179799912 @default.
• W4293254231 hasConcept C204787440 @default.
• W4293254231 hasConcept C2524010 @default.
• W4293254231 hasConcept C2776029896 @default.
• W4293254231 hasConcept C2780554755 @default.
• W4293254231 hasConcept C33923547 @default.
• W4293254231 hasConcept C41008148 @default.
• W4293254231 hasConcept C62520636 @default.
• W4293254231 hasConcept C71924100 @default.
• W4293254231 hasConcept C77805123 @default.
• W4293254231 hasConcept C81074085 @default.
• W4293254231 hasConcept C90509273 @default.
• W4293254231 hasConcept C90738871 @default.
• W4293254231 hasConcept C91765299 @default.
• W4293254231 hasConceptScore W4293254231C104114177 @default.
• W4293254231 hasConceptScore W4293254231C112680207 @default.
• W4293254231 hasConceptScore W4293254231C11413529 @default.
• W4293254231 hasConceptScore W4293254231C121332964 @default.
• W4293254231 hasConceptScore W4293254231C126255220 @default.
• W4293254231 hasConceptScore W4293254231C137836250 @default.
• W4293254231 hasConceptScore W4293254231C142724271 @default.
• W4293254231 hasConceptScore W4293254231C153083717 @default.
• W4293254231 hasConceptScore W4293254231C154945302 @default.
• W4293254231 hasConceptScore W4293254231C15744967 @default.
• W4293254231 hasConceptScore W4293254231C179799912 @default.
• W4293254231 hasConceptScore W4293254231C204787440 @default.
• W4293254231 hasConceptScore W4293254231C2524010 @default.
• W4293254231 hasConceptScore W4293254231C2776029896 @default.
• W4293254231 hasConceptScore W4293254231C2780554755 @default.
• W4293254231 hasConceptScore W4293254231C33923547 @default.
• W4293254231 hasConceptScore W4293254231C41008148 @default.
• W4293254231 hasConceptScore W4293254231C62520636 @default.
• W4293254231 hasConceptScore W4293254231C71924100 @default.
• W4293254231 hasConceptScore W4293254231C77805123 @default.
• W4293254231 hasConceptScore W4293254231C81074085 @default.

• next