Lab Papers (GRASP)

Document Type

Conference Paper

Date of this Version



Copyright 2008 IEEE. Reprinted from:
Ahmadzadeh, A.; Jadbabaie, A.; Pappas, G.J.; Kumar, V., "Elastic multi-particle systems for bounded-curvature path planning," American Control Conference, 2008 , vol., no., pp.5035-5040, 11-13 June 2008

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This paper investigates a path planning algorithm for Dubins vehicles. Our approach is based on approximation of the trajectories of vehicles using sequence of waypoints and treating each way point as a moving particle in the space. We define interaction forces between the particles such that the resulting multi-particle system will be stable, moreover, the trajectories generated by the waypoints in the equilibria of the multi-particle system will satisfy all of the hard constraint such as bounded-curvature constraint and obstacle avoidance.


collision avoidance, multi-robot systems, Dubins vehicles, bounded-curvature constraint, bounded-curvature path planning, elastic multiparticle systems, interaction forces, obstacle avoidance



Date Posted: 01 October 2009