Constrained motion planning for multiple vehicles on SE(3)

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)
3 Downloads (Pure)


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 languageEnglish
Title of host publicationProceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), 10-13 December 2012, Maui, Hawaii
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)978-1-4673-2064-1
Publication statusPublished - 2012


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