Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty
Motion planning of agents is one of the fundamental research problems in autonomous systems. An important aspect of motion planning is collision avoidance of the agents with other agents and obstacles that are present in the agent’s environment. Typically, the collision avoidance constrai...
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| Format: | Article |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8944081/ |
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| author | Haseeb Tahir Mujahid N. Syed Uthman Baroudi |
| author_facet | Haseeb Tahir Mujahid N. Syed Uthman Baroudi |
| author_sort | Haseeb Tahir |
| collection | DOAJ |
| description | Motion planning of agents is one of the fundamental research problems in autonomous systems. An important aspect of motion planning is collision avoidance of the agents with other agents and obstacles that are present in the agent’s environment. Typically, the collision avoidance constraints are non-linear and non-convex. Thus, the mathematical formulation of motion planning of multiple agents, in the presence of other agents and obstacles, is NP-Hard. In this paper, a novel heuristic approach for motion planning in multi-agent dynamic environment is proposed. The approach is computationally cheap, and can be launched locally on each agent for the trajectory planning. The applicability of the proposed approach is illustrated by numerical examples considering uncertainty in the environment. Detailed discussions on the performance of the proposed approach are presented. Finally, the observations on the key characteristics of the proposed approach are summarized. |
| format | Article |
| id | doaj-art-6bb07df42b9e4cc3a83fd0d1ea4a7734 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-6bb07df42b9e4cc3a83fd0d1ea4a77342025-08-22T23:10:46ZengIEEEIEEE Access2169-35362020-01-0183812382610.1109/ACCESS.2019.29627858944081Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under UncertaintyHaseeb Tahir0Mujahid N. Syed1Uthman Baroudi2https://orcid.org/0000-0002-1507-5713Systems Engineering Department, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi ArabiaSystems Engineering Department, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi ArabiaComputer Engineering Department, King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi ArabiaMotion planning of agents is one of the fundamental research problems in autonomous systems. An important aspect of motion planning is collision avoidance of the agents with other agents and obstacles that are present in the agent’s environment. Typically, the collision avoidance constraints are non-linear and non-convex. Thus, the mathematical formulation of motion planning of multiple agents, in the presence of other agents and obstacles, is NP-Hard. In this paper, a novel heuristic approach for motion planning in multi-agent dynamic environment is proposed. The approach is computationally cheap, and can be launched locally on each agent for the trajectory planning. The applicability of the proposed approach is illustrated by numerical examples considering uncertainty in the environment. Detailed discussions on the performance of the proposed approach are presented. Finally, the observations on the key characteristics of the proposed approach are summarized.https://ieeexplore.ieee.org/document/8944081/Trajectory planningmulti-agentpath planningrobotic networkscollision avoidance |
| spellingShingle | Haseeb Tahir Mujahid N. Syed Uthman Baroudi Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty IEEE Access Trajectory planning multi-agent path planning robotic networks collision avoidance |
| title | Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty |
| title_full | Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty |
| title_fullStr | Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty |
| title_full_unstemmed | Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty |
| title_short | Heuristic Approach for Real-Time Multi-Agent Trajectory Planning Under Uncertainty |
| title_sort | heuristic approach for real time multi agent trajectory planning under uncertainty |
| topic | Trajectory planning multi-agent path planning robotic networks collision avoidance |
| url | https://ieeexplore.ieee.org/document/8944081/ |
| work_keys_str_mv | AT haseebtahir heuristicapproachforrealtimemultiagenttrajectoryplanningunderuncertainty AT mujahidnsyed heuristicapproachforrealtimemultiagenttrajectoryplanningunderuncertainty AT uthmanbaroudi heuristicapproachforrealtimemultiagenttrajectoryplanningunderuncertainty |