Centralized collision-free polynomial trajectories and goal assignment for aerial swarms

Gravell, Benjamin; Summers, Tyler H.

doi:10.1016/j.conengprac.2021.104753

Cited by 6 publications

(2 citation statements)

References 25 publications

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“…generating multi-robot trajectories with collision-free goal assignment. Numerical experiments showed that the proposed method significantly reduced the total time [13]. Based on virtual motion camouflage and particle swarm optimization, Kwak et al investigated a decentralized method of trajectory optimization to solve non-linear problems constrained by the multi-robot terminal time and angle.…”

Section: Introductionmentioning

confidence: 99%

Trajectory optimization of the redundant manipulator with local variable period under multi-machine coordination

Zhou

Huang

2022

Robotica

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The coordinated motion between the press and the feeding mechanism directly determines the production efficiency of the high-speed stamping line. In order to generate the high-performance trajectory of the feeding mechanism, this paper investigates the optimization of the trajectory with the local variable period. Based on the quintic B-spline curve and normal distribution, the smooth interpolation method of variable-time interval is proposed to generate the collision-free and energy-jerk-minimal trajectory with variable-time intervals. The advantage of the proposed method is that it can make the feeding mechanism transition smoothly between districts of variable-time and fixed-time intervals. It is beneficial to avoid re-performing the entire process of trajectory planning. ADAMS and actual experiments are used to validate the effectiveness of the proposed method. Results show that the proposed method can maintain the high performance of the initial trajectory, and there is no sharp point in the displacement-time and velocity-time curves. The investigation provides a new direction for the direct generation of local variable-period trajectories in the multi-machine coordination of the stamping line.

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Section: Introductionmentioning

confidence: 99%

Trajectory optimization of the redundant manipulator with local variable period under multi-machine coordination

Zhou

Huang

2022

Robotica

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“…Many different tailored strategies exist for avoiding collisions among multiple mobile agents that are assigned to interchangeable target destinations. In [11], [12] collisions are avoided by introducing delayed starting times for pre-computed trajectories to assigned destinations. In [13], [14] tasks are assigned based on optimisation problems that incentivise agents to avoid situations that lead to collisions.…”

Section: Introductionmentioning

confidence: 99%

Temporal Logic Planning for Minimum-Time Positioning of Multiple Threat-Seduction Decoys

Wood¹,

Khoo²,

Elad³

et al. 2021

Preprint

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Reusable decoys offer a cost-effective alternative to the single-use hardware commonly applied to protect surface assets from threats. Such decoys portray fake assets to lure threats away from the true asset. To deceive a threat, a decoy first has to position itself such that it can break the radar lock. Considering multiple simultaneous threats, this paper introduces an approach for controlling multiple decoys to minimise the time required to break the locks of all the threats. The method includes the optimal allocation of one decoy to every threat with an assignment procedure that provides local position constraints to guarantee collision avoidance and thereby decouples the control of the decoys. A crude model of a decoy with uncertainty is considered for motion planning. The task of a decoy reaching a state in which the lock of the assigned threat can be broken is formulated as a temporal logic specification. To this end, the requirements to complete the task are modelled as time-varying set-membership constraints. The temporal and logical combination of the constraints is encoded in a mixed-integer optimisation problem. To demonstrate the results a simulated case study is provided.

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Multi-Objective Trajectory Planning Based on Integrated NSGA-III for Isokinetic Rehabilitation

Chen,

Meng,

Zhu

et al. 2023

2023 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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Centralized collision-free polynomial trajectories and goal assignment for aerial swarms

Cited by 6 publications

References 25 publications

Trajectory optimization of the redundant manipulator with local variable period under multi-machine coordination

Trajectory optimization of the redundant manipulator with local variable period under multi-machine coordination

Temporal Logic Planning for Minimum-Time Positioning of Multiple Threat-Seduction Decoys

Multi-Objective Trajectory Planning Based on Integrated NSGA-III for Isokinetic Rehabilitation

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