Year: 2013
Type: preprint
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.
Source: arXiv (Cornell University)
Institution: Walt Disney (United States)
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2161256817