Conference Paper: CVT-based 2D motion planning with maximal clearance

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TitleCVT-based 2D motion planning with maximal clearance
AuthorsZheng, L
Choi, YK
Liu, X
Wang, WP
Issue Date2011
PublisherIEEE, Computer Society.
CitationThe 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 9-13 May 2011. In Proceedings of the IEEE-ICRA, 2011, p. 2281-2287 [How to Cite?]
AbstractMaximal clearance is an important property that is highly desirable in multi-agent motion planning. However, it is also inherently difficult to attain. We propose a novel approach to achieve maximal clearance by exploiting the ability of evenly distributing a set of points by a centroidal Voronoi tessellation (CVT). We adapt the CVT framework to multi-agent motion planning by adding an extra time dimension and optimize the trajectories of the agents in the augmented domain. As an optimization framework, our method can work naturally on complex regions. We demonstrate the effectiveness of our algorithm in achieving maximal clearance in motion planning with some examples.
ISSN1050-4729
2011 SCImago Journal Rankings: 0.035
DC Field
Value
dc.contributor.authorZheng, L
dc.contributor.authorChoi, YK
dc.contributor.authorLiu, X
dc.contributor.authorWang, WP
dc.date.accessioned2011-09-23T06:04:39Z
dc.date.available2011-09-23T06:04:39Z
dc.date.issued2011
dc.description.abstractMaximal clearance is an important property that is highly desirable in multi-agent motion planning. However, it is also inherently difficult to attain. We propose a novel approach to achieve maximal clearance by exploiting the ability of evenly distributing a set of points by a centroidal Voronoi tessellation (CVT). We adapt the CVT framework to multi-agent motion planning by adding an extra time dimension and optimize the trajectories of the agents in the augmented domain. As an optimization framework, our method can work naturally on complex regions. We demonstrate the effectiveness of our algorithm in achieving maximal clearance in motion planning with some examples.
dc.description.naturepublished_or_final_version
dc.description.otherThe 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 9-13 May 2011. In Proceedings of the IEEE-ICRA, 2011, p. 2281-2287
dc.identifier.citationThe 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 9-13 May 2011. In Proceedings of the IEEE-ICRA, 2011, p. 2281-2287 [How to Cite?]
dc.identifier.epage2287
dc.identifier.hkuros196317
dc.identifier.issn1050-4729
2011 SCImago Journal Rankings: 0.035
dc.identifier.openurl
dc.identifier.spage2281
dc.identifier.urihttp://hdl.handle.net/10722/140007
dc.languageeng
dc.publisherIEEE, Computer Society.
dc.relation.ispartofProceedings of the IEEE International Conference on Robotics and Automation
dc.rightsIEEE International Conference on Robotics and Automation Proceedings. Copyright © IEEE, Computer Society.
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License
dc.rights©2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
dc.titleCVT-based 2D motion planning with maximal clearance
dc.typeConference_Paper