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.
Collaborative Trajectory Planning for Autonomous Mining Trucks: A Grouping and Prioritized Optimization Based Approach,
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Optimized and kinematically feasible multi-agent motion planning
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.