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<p>Created page with &quot; == Abstract == In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel ap...&quot;</p> <p><b>New page</b></p><div><br /> == Abstract ==<br /> <br /> In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover, unlike previous work found in the literature, our formulation allows an exact linear modeling (up to the discretization resolution) of second-order dynamic constraints. Extensive simulations are performed to demonstrate the effectiveness of our approach.<br /> <br /> Comment: Published in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)<br /> <br /> <br /> == Original document ==<br /> <br /> The different versions of the original document can be found in:<br /> <br /> * [http://arxiv.org/abs/1603.04610 http://arxiv.org/abs/1603.04610]<br /> <br /> * [http://arxiv.org/pdf/1603.04610 http://arxiv.org/pdf/1603.04610]<br /> <br /> * [http://xplorestaging.ieee.org/ielx7/7743711/7758082/07759737.pdf?arnumber=7759737 http://xplorestaging.ieee.org/ielx7/7743711/7758082/07759737.pdf?arnumber=7759737],<br /> : [http://dx.doi.org/10.1109/iros.2016.7759737 http://dx.doi.org/10.1109/iros.2016.7759737]<br /> <br /> * [https://dblp.uni-trier.de/db/journals/corr/corr1603.html#AltcheQF16 https://dblp.uni-trier.de/db/journals/corr/corr1603.html#AltcheQF16],<br /> : [https://arxiv.org/pdf/1603.04610.pdf https://arxiv.org/pdf/1603.04610.pdf],<br /> : [https://arxiv.org/abs/1603.04610 https://arxiv.org/abs/1603.04610],<br /> : [https://ui.adsabs.harvard.edu/abs/2016arXiv160304610A/abstract https://ui.adsabs.harvard.edu/abs/2016arXiv160304610A/abstract],<br /> : [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141 https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141],<br /> : [https://ieeexplore.ieee.org/document/7759737 https://ieeexplore.ieee.org/document/7759737],<br /> : [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/document https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/document],<br /> : [https://128.84.21.199/abs/1603.04610 https://128.84.21.199/abs/1603.04610],<br /> : [https://au.arxiv.org/abs/1603.04610 https://au.arxiv.org/abs/1603.04610],<br /> : [https://uk.arxiv.org/pdf/1603.04610 https://uk.arxiv.org/pdf/1603.04610],<br /> : [https://dumas.ccsd.cnrs.fr/ENSMP_CAOR/hal-01360141v1 https://dumas.ccsd.cnrs.fr/ENSMP_CAOR/hal-01360141v1],<br /> : [https://au.arxiv.org/pdf/1603.04610 https://au.arxiv.org/pdf/1603.04610],<br /> : [https://ru.arxiv.org/abs/1603.04610 https://ru.arxiv.org/abs/1603.04610],<br /> : [https://export.arxiv.org/abs/1603.04610 https://export.arxiv.org/abs/1603.04610],<br /> : [https://www.mysciencework.com/publication/show/time-optimal-coordination-mobile-robots-along-specified-paths-09f19e48 https://www.mysciencework.com/publication/show/time-optimal-coordination-mobile-robots-along-specified-paths-09f19e48],<br /> : [https://fr.arxiv.org/abs/1603.04610 https://fr.arxiv.org/abs/1603.04610],<br /> : [https://uk.arxiv.org/abs/1603.04610 https://uk.arxiv.org/abs/1603.04610],<br /> : [https://fr.arxiv.org/pdf/1603.04610 https://fr.arxiv.org/pdf/1603.04610],<br /> : [https://aps.arxiv.org/pdf/1603.04610 https://aps.arxiv.org/pdf/1603.04610],<br /> : [https://export.arxiv.org/pdf/1603.04610 https://export.arxiv.org/pdf/1603.04610],<br /> : [https://ru.arxiv.org/pdf/1603.04610 https://ru.arxiv.org/pdf/1603.04610],<br /> : [https://academic.microsoft.com/#/detail/2301019454 https://academic.microsoft.com/#/detail/2301019454]<br /> <br /> * [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141 https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141],<br /> : [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/document https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/document],<br /> : [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/file/iros2016.pdf https://hal-mines-paristech.archives-ouvertes.fr/hal-01360141/file/iros2016.pdf]</div>

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