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- W4366999525 abstract "This paper presents a novel method for efficiently solving trajectory planning problems for swarm robotics in cluttered environments. While recent research has demonstrated high success rates in real-time local trajectory planning for swarm robotics in cluttered environments, optimizing every trajectory for each robot is computationally expensive, with a computational complexity of $Oleft(n^2right)$ to $ Oleft(n^3right)$. To address this issue, we first propose the concept of the emph{optimal virtual tube}, which includes infinite optimal trajectories. Under certain conditions, any optimal trajectory in the optimal virtual tube can be expressed as a convex combination of a finite number of optimal trajectories, with a computational complexity of $Oleft(1right)$. Afterward, a planning method of emph{the optimal virtual tube} is proposed. In simulations and experiments, we show that the proposed method efficiently reduces calculation and is validated by comparison with traditional methods." @default.
- W4366999525 created "2023-04-27" @default.
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- W4366999525 date "2023-04-22" @default.
- W4366999525 modified "2023-10-01" @default.
- W4366999525 title "Optimal Virtual Tube Planning and Control for Swarm Robotics" @default.
- W4366999525 doi "https://doi.org/10.48550/arxiv.2304.11407" @default.
- W4366999525 hasPublicationYear "2023" @default.
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