Multiple object semilinear motion planning
We present a method based on extended linear real quantifier elimination for multiple object semilinear motion planning, i.e. finding collision-free trajectories for several robots in a time dependent environment. For practical applicability the method is limited to polygonal objects and linear trajectories. It can, however, deal with situations involving even non-convex objects. (c) 2007 Elsevier Ltd. All rights reserved.
motion planning linear real quantifier elimination trajectory finding redlog