{"_id":"ccEbthErwxhgcw2E4","bibbaseid":"manyam-casbeer-weintraub-tran-bradley-darbha-quadraticbeziercurvesformultiagentcoordinatedarrivalinthepresenceofobstacles-2021","author_short":["Manyam, S. G.","Casbeer, D.","Weintraub, I. E.","Tran, D. M.","Bradley, J. M.","Darbha, S."],"bibdata":{"bibtype":"inproceedings","type":"inproceedings","title":"Quadratic Bezier Curves for Multi-Agent Coordinated Arrival in the Presence of Obstacles","url":"https://arc.aiaa.org/doi/abs/10.2514/6.2021-1879","doi":"10.2514/6.2021-1879","abstract":"We consider a multiple vehicle path planning problem with curvature constraints in the presence of obstacles, where multiple vehicles need to arrive at a given final location simultaneously. We aim to find the paths using a simplex framework that tessellates the feasible regions into hexagonal grids from which a graph is abstracted with nodes at the mid-point of every hexagon edge. The graph edges are defined over the adjacent nodes of the hexagons and each edge corresponds to a quadratic Bezier curve. We present an algorithm that finds the shortest path for each vehicle, and a path perturbation technique to make the path lengths equal with in a given error tolerance. We test the proposed approach using simulated scenarios and present the results.","booktitle":"AIAA Scitech 2021 Forum","author":[{"propositions":[],"lastnames":["Manyam"],"firstnames":["Satyanarayana","G."],"suffixes":[]},{"propositions":[],"lastnames":["Casbeer"],"firstnames":["David"],"suffixes":[]},{"propositions":[],"lastnames":["Weintraub"],"firstnames":["Isaac","E."],"suffixes":[]},{"propositions":[],"lastnames":["Tran"],"firstnames":["Dzung","M."],"suffixes":[]},{"propositions":[],"lastnames":["Bradley"],"firstnames":["Justin","M."],"suffixes":[]},{"propositions":[],"lastnames":["Darbha"],"firstnames":["Swaroop"],"suffixes":[]}],"year":"2021","note":"tex.eprint: https://arc.aiaa.org/doi/pdf/10.2514/6.2021-1879","bibtex":"@inproceedings{manyam2021quadratic,\n\ttitle = {Quadratic {Bezier} {Curves} for {Multi}-{Agent} {Coordinated} {Arrival} in the {Presence} of {Obstacles}},\n\turl = {https://arc.aiaa.org/doi/abs/10.2514/6.2021-1879},\n\tdoi = {10.2514/6.2021-1879},\n\tabstract = {We consider a multiple vehicle path planning problem with curvature constraints in the presence of obstacles, where multiple vehicles need to arrive at a given final location simultaneously. We aim to find the paths using a simplex framework that tessellates the feasible regions into hexagonal grids from which a graph is abstracted with nodes at the mid-point of every hexagon edge. The graph edges are defined over the adjacent nodes of the hexagons and each edge corresponds to a quadratic Bezier curve. We present an algorithm that finds the shortest path for each vehicle, and a path perturbation technique to make the path lengths equal with in a given error tolerance. We test the proposed approach using simulated scenarios and present the results.},\n\tbooktitle = {{AIAA} {Scitech} 2021 {Forum}},\n\tauthor = {Manyam, Satyanarayana G. and Casbeer, David and Weintraub, Isaac E. and Tran, Dzung M. and Bradley, Justin M. and Darbha, Swaroop},\n\tyear = {2021},\n\tnote = {tex.eprint: https://arc.aiaa.org/doi/pdf/10.2514/6.2021-1879},\n}\n\n","author_short":["Manyam, S. G.","Casbeer, D.","Weintraub, I. E.","Tran, D. M.","Bradley, J. M.","Darbha, S."],"key":"manyam2021quadratic","id":"manyam2021quadratic","bibbaseid":"manyam-casbeer-weintraub-tran-bradley-darbha-quadraticbeziercurvesformultiagentcoordinatedarrivalinthepresenceofobstacles-2021","role":"author","urls":{"Paper":"https://arc.aiaa.org/doi/abs/10.2514/6.2021-1879"},"metadata":{"authorlinks":{}}},"bibtype":"inproceedings","biburl":"https://api.zotero.org/users/890488/collections/CDTAG95F/items?key=5YrquAQTXNaw6czlZI1jyKfe&format=bibtex&limit=100","dataSources":["o8hGpEvJSNAYAbkzs"],"keywords":[],"search_terms":["quadratic","bezier","curves","multi","agent","coordinated","arrival","presence","obstacles","manyam","casbeer","weintraub","tran","bradley","darbha"],"title":"Quadratic Bezier Curves for Multi-Agent Coordinated Arrival in the Presence of Obstacles","year":2021}