DiMOpt: a distributed multi-robot trajectory optimization algorithm

João Salvado, Masoumeh Mansouri, Federico Pecora

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This paper deals with Multi-robot Trajectory Planning, that is, the problem of computing trajectories for multiple robots navigating in a shared space while minimizing for control energy. Approaches based on trajectory optimization can solve this problem optimally. However, such methods are hampered by complex robot dynamics and collision constraints that couple robot’s decision variables. We propose a distributed multi-robot optimization algorithm (DiMOpt) that addresses these issues by exploiting (1) consensus optimization strategies to tackle coupling collision constraints, and (2) a single-robot sequential convex programming method for efficiently handling non-convexities introduced by dynamics. We compare DiMOpt with a baseline centralized multi-robot sequential convex programming algorithm (SCP). We empirically demonstrate that DiMOpt scales well for large fleets of robots while computing solutions faster and with lower costs. Finally, DiMOpt is an iterative algorithm that finds feasible trajectories before converging to a locally optimal solution, and results suggest the quality of such fast initial solutions is comparable to a converged solution computed via SCP.
Original languageEnglish
Title of host publication2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Pages10110-10117
Number of pages8
ISBN (Electronic)978-1-6654-7927-1
ISBN (Print)978-1-6654-7928-8
DOIs
Publication statusE-pub ahead of print - 26 Dec 2022
Event2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto International Conference Center, Kyoto, Japan
Duration: 23 Oct 202227 Oct 2022
https://iros2022.org/

Publication series

NameProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Abbreviated titleIROS 2022
Country/TerritoryJapan
CityKyoto
Period23/10/2227/10/22
Internet address

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