Multiple object semilinear motion planning

We present a method based on extended linear real quantifier elimination for multiple object semilinear motion planning, i.e. finding collision-free trajectories for several robots in a time dependent environment. For practical applicability the method is limited to polygonal objects and linear trajectories. It can, however, deal with situations involving even non-convex objects. c 2007 Elsevier Ltd. All rights reserved.

• Type: Journal
• Year: 2007
• Where: JSC
• Authors: Andreas Dolzmann, Volker Weispfenning
• Keywords: Collision-free Trajectories, JSC 2007, Real Quantifier Elimination, Time Dependent Environment