Cain, Brennan (University of South Carolina), Kalaitzakis, Michail (University of South Carolina), Vitzilaios, Nikolaos (University of South Carolina)

MK-RRT*: Multi-Robot Kinodynamic RRT* Trajectory Planning

Scheduled for presentation during the Regular Session "Path Planning V" (ThC3), Thursday, June 17, 2021, 18:20−18:40, Edessa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This paper introduces MK-RRT*: a Multi-robot Kinodynamic RRT*-based framework for trajectory planning of multiple dynamically-modeled robots. The framework includes both tightly-coupled and loosely-coupled methods for planning. The simultaneous, tightly-coupled, method provides an asymptotically optimal solution to the multi-robot trajectory planning problem. A sequential, loosely-coupled, method is also developed to compare costs of the generated trajectories and computational complexity of both methods. An application of this framework to multi-UAV trajectory planning is presented and experimentally evaluated using a team of Ryze Tello EDU UAVs.