Backward time-reversed conflict-based search finds initial collision-free simultaneous-arrival trajectories for agents at rest, which are then refined via distributed nonlinear ADMM optimal control.
Collaborative Motion Planning for Multiple Tractor-Trailer Vehicles Based on Local Conflict Search and Priority Game Inheritance,
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A hybrid search-plus-optimal-control framework that produces optimized, kinematically feasible trajectories for multiple agents by warm-starting an OCP from an initial feasible solution.
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Multi-Agent Motion Planning for Simultaneous Arrival using Time-Reversed Search and Distributed Optimal Control
Backward time-reversed conflict-based search finds initial collision-free simultaneous-arrival trajectories for agents at rest, which are then refined via distributed nonlinear ADMM optimal control.