Optimal Distributed Multi-Robot Communication-Aware Trajectory Planning using Alternating Direction Method of Multipliers
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 change...
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Main Authors | , , |
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Format | Journal Article |
Language | English |
Published |
09.08.2024
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Subjects | |
Online Access | Get full text |
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Summary: | 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. |
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DOI: | 10.48550/arxiv.2408.05111 |