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Fast Joint Multi-Robot Trajectory Optimization by GPU Accelerated Batch Solution of Distributed Sub-Problems

We present a joint multi-robot trajectory optimizer that can compute trajectories for tens of robots in aerial swarms within a small fraction of a second. The computational efficiency of our approach is built on breaking the per-iteration computation of the joint optimization into smaller, decoupled...

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Detalles Bibliográficos
Autores principales: Guhathakurta, Dipanwita, Rastgar , Fatemeh, Sharma , M. Aditya, Krishna , K. Madhava, Singh , Arun Kumar
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9304808/
https://www.ncbi.nlm.nih.gov/pubmed/35875701
http://dx.doi.org/10.3389/frobt.2022.890385