ICRA 2011 Paper Abstract


Paper TuP209.5

Zheng, Liping (Hefei University of Technology), Choi, Yiking (The University of Hong Kong), Liu, Xiaoping (Hefei University of Technology), Wang, Wenping (The University of Hong Kong)

CVT-based 2D Motion Planning with Maximal Clearance

Scheduled for presentation during the Regular Sessions "Motion and Path Planning II" (TuP209), Tuesday, May 10, 2011, 16:25−16:40, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Motion and Path Planning, Path Planning for Multiple Mobile Robots or Agents, Autonomous Navigation


Maximal clearance is an important property that is highly desirable in multi-agent motion planning. However,it is also inherently difficult to attain. We propose a novel approach to achieve maximal clearance by exploiting the ability of evenly distributing a set of points by a centroidal Voronoi tessellation (CVT). We adapt the CVT framework to multi-agent motion planning by adding an extra time dimension and optimize the trajectories of the agents in the augmented domain.As an optimization framework, our method can work naturally on complex regions. We demonstrate the ffectiveness of our algorithm in achieving maximal clearance in motion planning with some examples.



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