Path planning for confined environments

Planning the collision-free, simultaneous movement of multiple agents is a fundamental problem in multi-robot systems and becomes particularly challenging in highly confined environments. Hikmet Beyoglu addresses this problem in his master thesis by first searching for collision-free paths in a discretized environment and then optimizing the agents’ dynamically feasible trajectories along the discrete paths with respect to energy and time.

This work was jointly co-supervised by Stephan Weiss and Bernhard Rinner and will be presented at ICUAS 2022: