Abstract
Given a collection of robots sharing a common environment, assume that each possesses an individual roadmap for its C-space and a cost function for attaining a goal. Vector-valued (or Pareto) optima for collision-free coordination are by no means unique: in fact, continua of optimal coordinations are possible. However, for cylindrical obstacles (those defined by pairwise interactions), we prove a finite bound on the number of optimal coordinations. For such systems, we present an exact algorithm for reducing a coordination scheme to its Pareto optimal representative.
Supported by NSF PECASE DMS-0337713 [RG] and NSF IIS-0296126 [JO,SL].
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
Author information
Authors and Affiliations
Editor information
Rights and permissions
About this chapter
Cite this chapter
Ghrist, R., O’Kane, J.M., LaValle, S.M. Pareto Optimal Coordination on Roadmaps. In: Erdmann, M., Overmars, M., Hsu, D., van der Stappen, F. (eds) Algorithmic Foundations of Robotics VI. Springer Tracts in Advanced Robotics, vol 17. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991541_13
Download citation
DOI: https://doi.org/10.1007/10991541_13
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-25728-8
Online ISBN: 978-3-540-31506-3
eBook Packages: EngineeringEngineering (R0)