2024/08/09 by Jeppe Heini Mikkelsen, Mikkelsen, Jeppe Heini, Roberto Galeazzi +3
Computer Science · Engineering · #Advanced Manufacturing and Logistics Optimization #FOS: Computer and information sciences #Optimization and Search Problems #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2408.05111
openalex publication_date 2024/08/09 · openalex created_date 2024/09/10 · openalex updated_date 2026/07/28
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general optimisation framework that imposes linear constraints on changes in robot positions to ensure communication performance and collision avoidance. In this paper, the optimisation problem is solved distributively by separating the communication performance constraint through an economic approach. Here, the current communication budget is distributed equally among the robots, and the robots are allowed to trade parts of their budgets with each other. The separated optimisation problem is then solved using the consensus alternating direction method of multipliers. The method was verified through simulation in an inspection task problem.