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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...
Autores principales: | Guhathakurta, Dipanwita, Rastgar , Fatemeh, Sharma , M. Aditya, Krishna , K. Madhava, Singh , Arun Kumar |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2022
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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 |
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