Constrained motion planning for multiple vehicles on SE(3)

A. Saccon; A.P. Aguiar; A.J. Haeusler; J. Hauser; A.M. Pascoal

doi:10.1109/CDC.2012.6426697

Constrained motion planning for multiple vehicles on SE(3)

A. Saccon, A.P. Aguiar, A.J. Haeusler, J. Hauser, A.M. Pascoal

Dynamics and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

10 Citations (Scopus)

3 Downloads (Pure)

Abstract

This paper proposes a computational method to solve constrained cooperative motion planning problems for multiple vehicles undergoing translational and rotational motions. The problem is solved by means of the Lie group projection operator approach, a recently developed optimization strategy for solving continuous-time optimal control problems on Lie groups. State constraints (for collision avoidance) are handled by means of a set of barrier functions, turning the optimization approach into an interior point method. A sample computation is shown to demonstrate the effectiveness of the method.

Original language	English
Title of host publication	Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), 10-13 December 2012, Maui, Hawaii
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	5637-5642
ISBN (Print)	978-1-4673-2064-1
DOIs	https://doi.org/10.1109/CDC.2012.6426697
Publication status	Published - 2012

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10.1109/CDC.2012.6426697

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title = "Constrained motion planning for multiple vehicles on SE(3)",

abstract = "This paper proposes a computational method to solve constrained cooperative motion planning problems for multiple vehicles undergoing translational and rotational motions. The problem is solved by means of the Lie group projection operator approach, a recently developed optimization strategy for solving continuous-time optimal control problems on Lie groups. State constraints (for collision avoidance) are handled by means of a set of barrier functions, turning the optimization approach into an interior point method. A sample computation is shown to demonstrate the effectiveness of the method.",

author = "A. Saccon and A.P. Aguiar and A.J. Haeusler and J. Hauser and A.M. Pascoal",

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Constrained motion planning for multiple vehicles on SE(3). / Saccon, A.; Aguiar, A.P.; Haeusler, A.J. et al.
Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), 10-13 December 2012, Maui, Hawaii. Piscataway: Institute of Electrical and Electronics Engineers, 2012. p. 5637-5642.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Constrained motion planning for multiple vehicles on SE(3)

AU - Saccon, A.

AU - Aguiar, A.P.

AU - Haeusler, A.J.

AU - Hauser, J.

AU - Pascoal, A.M.

PY - 2012

Y1 - 2012

N2 - This paper proposes a computational method to solve constrained cooperative motion planning problems for multiple vehicles undergoing translational and rotational motions. The problem is solved by means of the Lie group projection operator approach, a recently developed optimization strategy for solving continuous-time optimal control problems on Lie groups. State constraints (for collision avoidance) are handled by means of a set of barrier functions, turning the optimization approach into an interior point method. A sample computation is shown to demonstrate the effectiveness of the method.

AB - This paper proposes a computational method to solve constrained cooperative motion planning problems for multiple vehicles undergoing translational and rotational motions. The problem is solved by means of the Lie group projection operator approach, a recently developed optimization strategy for solving continuous-time optimal control problems on Lie groups. State constraints (for collision avoidance) are handled by means of a set of barrier functions, turning the optimization approach into an interior point method. A sample computation is shown to demonstrate the effectiveness of the method.

U2 - 10.1109/CDC.2012.6426697

DO - 10.1109/CDC.2012.6426697

M3 - Conference contribution

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EP - 5642

BT - Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), 10-13 December 2012, Maui, Hawaii

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

ER -

Constrained motion planning for multiple vehicles on SE(3)

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