CAT-ORA optimally solves the time-optimal formation reshaping problem with collision avoidance guarantees in 3D by combining a collision-constrained bottleneck assignment with synchronized minimum-time trajectories.
Robotized and Automated Warehouse Systems: Review and Recent Developments,
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CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments
CAT-ORA optimally solves the time-optimal formation reshaping problem with collision avoidance guarantees in 3D by combining a collision-constrained bottleneck assignment with synchronized minimum-time trajectories.