15 citations · 18 across the 10 of their papers we have counts for
4 papers · 1 filter
Asynchronous Distributed Multi-Robot Motion Planning Under Imperfect Communication
Ardalan Tajbakhsh, Augustinos Saravanos, James Zhu +3
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable…
Coordinated guidance and control for multiple parafoil system landing
Zhenyu Wei, Zhijiang Shao, Lorenz T. Biegler
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient gu…
Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planning
Ardalan Tajbakhsh, Lorenz T. Biegler, Aaron M. Johnson
This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner l…
Contact-Implicit Trajectory Optimization using Orthogonal Collocation
Amir Patel, Stacey Shield, Saif Kazi +2
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, m…