Showing cs.ROShow all
2 papers · 1 filter
cs.RO2025
A MILP-Based Solution to Multi-Agent Motion Planning and Collision Avoidance in Constrained Environments
Akshay Jaitly, Jack Cline, Siavash Farzan
We propose a mixed-integer linear program (MILP) for multi-agent motion planning that embeds Polytopic Action-based Motion Planning (PAAMP) into a sequence-then-solve pipeline. Reg…
cs.RO2024
PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming
Akshay Jaitly, Siavash Farzan
Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods o…