Work

A decoupled time-optimized multi-robot path parameterization method

Year: 2025

Type: article

Abstract: This paper presents a decoupled time-optimized path parameterization method for coordinating multiple robots with kinodynamic constraints in shared workspaces, where each robot follows a predefined geometric path. The proposed approach first computes time-optimal trajectories for individual robots using the Time-Optimal Path Parameterization (TOPP) algorithm, then resolves inter-robot collisions through strategically calculated start-time delays. By introducing the concept of Generalized Collision Regions (GCRs) in coordination space and developing an efficient algorithm to compute delay collision intervals, our method guarantees collision-free motion while minimizing the total operation time. The solution is formulated as a convex optimization problem with linear constraints, enabling efficient computation. Experimental validation using both robotic arms and car-like robots demonstrates the method’s effectiveness.

Source: Complex & Intelligent Systems

DOI: 10.1007/s40747-025-02110-5

Authors: Xianchao Sun, Yongsheng Luo, Kaixuan Li, Gangfeng Liu, Jie Zhao

Institutions: Harbin Institute of Technology, State Key Laboratory of Robotics and Systems

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,490

Funders: National Natural Science Foundation of China, National Defense Basic Scientific Research Program of China