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A message-passing algorithm for multi-agent trajectory planning
José Bento · Nate Derbinsky · Javier Alonso-Mora · Jonathan S Yedidia

Thu Dec 05 07:00 PM -- 11:59 PM (PST) @ Harrah's Special Events Center, 2nd Floor
We describe a novel approach for computing collision-free \emph{global} trajectories for $p$ agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM) algorithm. Compared with existing methods, our approach is naturally parallelizable and allows for incorporating different cost functionals with only minor adjustments. We apply our method to classical challenging instances and observe that its computational requirements scale well with $p$ for several cost functionals. We also show that a specialization of our algorithm can be used for {\em local} motion planning by solving the problem of joint optimization in velocity space.

Author Information

José Bento (Boston College)
Nate Derbinsky (Disney Research)
Javier Alonso-Mora (Disney Research)
Jonathan S Yedidia (Disney Research)

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