2019/10/11 by Rama Seshan Chandrasekaran, Leonardo Colombo, Chandrasekaran, Rama Seshan +7
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Locomotion and Control #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1910.04995
openalex publication_date 2019/10/11 · openalex created_date 2022/07/28 · openalex updated_date 2026/07/28
In this paper we study a path planning problem from a variational approach to\ncollision and obstacle avoidance for multi-agent systems evolving on a\nRiemannian manifold. The problem consists of finding non-intersecting\ntrajectories between the agent and prescribed obstacles on the workspace, among\na set of admissible curves, to reach a specified configuration, based on\nminimizing an energy functional that depends on the velocity, covariant\nacceleration and an artificial potential function used to prevent collision\nwith the obstacles and among the agents. We apply the results to examples of a\nplanar rigid body, and collision and obstacle avoidance for agents evolving on\na sphere.\n