Parallel Collaborative Motion Planning with Alternating Direction Method of Multipliers

Collaborative motion planning for multi-agent systems is a challenging problem because of the existence of highly nonlinear and nonconvex constraints. Such difficulties also lead to inavoidable computational inefficiency, which significantly prohibits applying the existing collaborative motion plann...

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Bibliographic Details

Published in:	IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society pp. 1 - 6
Main Authors:	Zhang, Xiaoxue, Cheng, Zilong, Ma, Jun, Zhao, Lin, Xiang, Cheng, Lee, Tong Heng
Format:	Conference Proceeding
Language:	English
Published:	IEEE 13.10.2021
Subjects:	alternating direction method of multipliers (ADMM) Collaboration collaborative planning Computational modeling Convex functions Dynamics Heuristic algorithms motion planning multi-agent system Nonlinear dynamical systems Planning
ISSN:	2577-1647
Online Access:	Get full text
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