FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4312949072> ?p ?o ?g. }

• W4312949072 abstract "This paper deals with Multi-robot Trajectory Planning, that is, the problem of computing trajectories for multiple robots navigating in a shared space while minimizing for control energy. Approaches based on trajectory optimization can solve this problem optimally. However, such methods are hampered by complex robot dynamics and collision constraints that couple robot's decision variables. We propose a distributed multi-robot optimization algorithm (DiMOpt) that addresses these issues by exploiting (1) consensus optimization strategies to tackle coupling collision constraints, and (2) a single-robot sequential convex programming method for efficiently handling non-convexities introduced by dynamics. We compare DiMOpt with a baseline centralized multi-robot sequential convex programming algorithm (SCP). We empirically demonstrate that DiMOpt scales well for large fleets of robots while computing solutions faster and with lower costs. Finally, DiMOpt is an iterative algorithm that finds feasible trajectories before converging to a locally optimal solution, and results suggest the quality of such fast initial solutions is comparable to a converged solution computed via SCP." @default.
• W4312949072 created "2023-01-05" @default.
• W4312949072 creator A5032097024 @default.
• W4312949072 creator A5047632950 @default.
• W4312949072 creator A5067126729 @default.
• W4312949072 date "2022-10-23" @default.
• W4312949072 modified "2023-10-16" @default.
• W4312949072 title "DiMOpt: a Distributed Multi-robot Trajectory Optimization Algorithm" @default.
• W4312949072 cites W1030513622 @default.
• W4312949072 cites W1489244333 @default.
• W4312949072 cites W1564897360 @default.
• W4312949072 cites W1825216778 @default.
• W4312949072 cites W1965760189 @default.
• W4312949072 cites W1988720110 @default.
• W4312949072 cites W1989407213 @default.
• W4312949072 cites W2062731992 @default.
• W4312949072 cites W2080132051 @default.
• W4312949072 cites W2109835212 @default.
• W4312949072 cites W2147526018 @default.
• W4312949072 cites W2166462345 @default.
• W4312949072 cites W2221321873 @default.
• W4312949072 cites W2241553860 @default.
• W4312949072 cites W2293883387 @default.
• W4312949072 cites W2345986964 @default.
• W4312949072 cites W2609535051 @default.
• W4312949072 cites W2767578104 @default.
• W4312949072 cites W2807424650 @default.
• W4312949072 cites W2842089854 @default.
• W4312949072 cites W2886374915 @default.
• W4312949072 cites W2903945973 @default.
• W4312949072 cites W2936998035 @default.
• W4312949072 cites W2972941110 @default.
• W4312949072 cites W3037353956 @default.
• W4312949072 cites W3102244603 @default.
• W4312949072 cites W3115747676 @default.
• W4312949072 cites W3152770304 @default.
• W4312949072 cites W3204534617 @default.
• W4312949072 cites W4241652050 @default.
• W4312949072 cites W4250739957 @default.
• W4312949072 doi "https://doi.org/10.1109/iros47612.2022.9981345" @default.
• W4312949072 hasPublicationYear "2022" @default.
• W4312949072 type Work @default.
• W4312949072 citedByCount "0" @default.
• W4312949072 crossrefType "proceedings-article" @default.
• W4312949072 hasAuthorship W4312949072A5032097024 @default.
• W4312949072 hasAuthorship W4312949072A5047632950 @default.
• W4312949072 hasAuthorship W4312949072A5067126729 @default.
• W4312949072 hasConcept C112680207 @default.
• W4312949072 hasConcept C11413529 @default.
• W4312949072 hasConcept C121332964 @default.
• W4312949072 hasConcept C121704057 @default.
• W4312949072 hasConcept C126255220 @default.
• W4312949072 hasConcept C1276947 @default.
• W4312949072 hasConcept C13662910 @default.
• W4312949072 hasConcept C137836250 @default.
• W4312949072 hasConcept C154945302 @default.
• W4312949072 hasConcept C157972887 @default.
• W4312949072 hasConcept C173246807 @default.
• W4312949072 hasConcept C19966478 @default.
• W4312949072 hasConcept C2524010 @default.
• W4312949072 hasConcept C2780864053 @default.
• W4312949072 hasConcept C33923547 @default.
• W4312949072 hasConcept C38652104 @default.
• W4312949072 hasConcept C41008148 @default.
• W4312949072 hasConcept C41045048 @default.
• W4312949072 hasConcept C74222875 @default.
• W4312949072 hasConcept C81074085 @default.
• W4312949072 hasConcept C90509273 @default.
• W4312949072 hasConcept C91575142 @default.
• W4312949072 hasConceptScore W4312949072C112680207 @default.
• W4312949072 hasConceptScore W4312949072C11413529 @default.
• W4312949072 hasConceptScore W4312949072C121332964 @default.
• W4312949072 hasConceptScore W4312949072C121704057 @default.
• W4312949072 hasConceptScore W4312949072C126255220 @default.
• W4312949072 hasConceptScore W4312949072C1276947 @default.
• W4312949072 hasConceptScore W4312949072C13662910 @default.
• W4312949072 hasConceptScore W4312949072C137836250 @default.
• W4312949072 hasConceptScore W4312949072C154945302 @default.
• W4312949072 hasConceptScore W4312949072C157972887 @default.
• W4312949072 hasConceptScore W4312949072C173246807 @default.
• W4312949072 hasConceptScore W4312949072C19966478 @default.
• W4312949072 hasConceptScore W4312949072C2524010 @default.
• W4312949072 hasConceptScore W4312949072C2780864053 @default.
• W4312949072 hasConceptScore W4312949072C33923547 @default.
• W4312949072 hasConceptScore W4312949072C38652104 @default.
• W4312949072 hasConceptScore W4312949072C41008148 @default.
• W4312949072 hasConceptScore W4312949072C41045048 @default.
• W4312949072 hasConceptScore W4312949072C74222875 @default.
• W4312949072 hasConceptScore W4312949072C81074085 @default.
• W4312949072 hasConceptScore W4312949072C90509273 @default.
• W4312949072 hasConceptScore W4312949072C91575142 @default.
• W4312949072 hasFunder F4320321030 @default.
• W4312949072 hasLocation W43129490721 @default.
• W4312949072 hasOpenAccess W4312949072 @default.
• W4312949072 hasPrimaryLocation W43129490721 @default.
• W4312949072 hasRelatedWork W1913882759 @default.
• W4312949072 hasRelatedWork W1935426308 @default.
• W4312949072 hasRelatedWork W2761535405 @default.
• W4312949072 hasRelatedWork W2945107527 @default.
• W4312949072 hasRelatedWork W3009464550 @default.

• next