MK-RRT: Multi-Robot Kinodynamic RRT Trajectory Planning. Cain, B., Kalaitzakis, M., & Vitzilaios, N. 2021.
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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.
@CONFERENCE{Cain2021868,
	author = {Cain, Brennan and Kalaitzakis, Michail and Vitzilaios, Nikolaos},
	title = {MK-RRT: Multi-Robot Kinodynamic RRT Trajectory Planning},
	year = {2021},
	journal = {2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021},
	pages = {868 – 876},
	doi = {10.1109/ICUAS51884.2021.9476688},
	affiliations = {University of South Carolina, Department of Computer Science and Engineering, Columbia, 29208, SC, United States; University of South Carolina, Department of Mechanical Engineering, Columbia, 29208, SC, United States},
	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.},
	keywords = {Industrial robots; Multipurpose robots; Trajectories; Unmanned aerial vehicles (UAV); Asymptotically optimal; Generated trajectories; Loosely coupled; Loosely coupled method; Multi UAV; Multirobots; Tightly-coupled; Trajectory Planning; Robot programming},
	publisher = {Institute of Electrical and Electronics Engineers Inc.},
	isbn = {978-073813115-3},
	language = {English},
	abbrev_source_title = {Int. Conf. Unmanned Aircr. Syst., ICUAS},
	type = {Conference paper},
	publication_stage = {Final},
	source = {Scopus}
}

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