Pareto optimal multi-robot coordination with acceleration constraints

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Pareto optimisation
mobile robots
multi-robot systems
path planning
Pareto optimal multirobot coordination
acceleration constraints
multirobot motion planning
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Jung, Jae Bum

We consider a collection of robots sharing a common environment, each robot constrained to move on a roadmap in its configuration space. To program optimal collision-free motions requires a choice of the appropriate notion of optimality. We work in the case where each robot wishes to travel to a goal while optimizing elapsed time and consider vector-valued (Pareto) optima. Earlier work demonstrated a finite number of Pareto-optimal classes of motion plans when the robots are subjected to velocity bounds but no acceleration bounds. This paper demonstrates that when velocity and acceleration are bounded, the finiteness result still holds for certain systems, e.g., two robots; however, in the general case, the acceleration bounds can lead to continua of Pareto optima. We give examples and explain the result in terms of the geometry of phase space.

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Copyright 2008 IEEE. Reprinted from: Jae Bum Jung; Ghrist, R., "Pareto optimal multi-robot coordination with acceleration constraints," Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on , vol., no., pp.1942-1947, 19-23 May 2008 URL: This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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