View source for Cooperative Task Planning of Multi-Robot Systems with Temporal Constraints

{{HTDB paper
| authors = Feng-Li Lian and Richard M. Murray
| title = Cooperative Task Planning of Multi-Robot Systems with Temporal Constraints
| source = Submitted, 2003 International Conference on Robotics and Automation
| year = 2002
| type =  Conference 
  Paper
| funding = DARPA/MICA
| url = http://www.cds.caltech.edu/~murray/preprints/lm03-icra.pdf
| abstract = 
This paper discusses a design methodology of cooperative
trajectory generation for multi-robot systems.
The trajectory of achieving cooperative tasks, i.e., with
temporal constraints, is constructed by a nonlinear trajectory
generation (NTG) algorithm. Three scenarios
of multi-robot tasking are proposed at the cooperative
task planning framework. The NTG algorithm is, then,
used to generate real-time trajectory for desired robot
activities. Given robot dynamics and constraints, the
NTG algorithm first finds trajectory curves in a lower
dimensional space and, then, parameterizes the curves
by a set of B-spline representations. The coe�cients
of the B-splines are further solved by the sequential
quadratic programming to satisfy the optimization objectives
and constraints. The NTG algorithm has been
implemented to generate real-time trajectories for a
group of cooperative robots in the presence of spatial
and temporal constraints. Finally, an illustrated example
of cooperative task planning with temporal constraints
is presented.

| flags = 
| tag = lm03-icra
| id = 2002q
}}