Fast Joint Multi-Robot Trajectory Optimization by GPU Accelerated Batch Solution of Distributed Sub-Problems
We present a joint multi-robot trajectory optimizer that can compute trajectories for tens of robots in aerial swarms within a small fraction of a second. The computational efficiency of our approach is built on breaking the per-iteration computation of the joint optimization into smaller, decoupled...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2022-07-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.890385/full |