Formation‐Aware Planning and Navigation with Corridor Shortest Path Maps

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dc.contributor.authorSharma, Riteshen_US
dc.contributor.authorWeiss, Tomeren_US
dc.contributor.authorKallmann, Marceloen_US
dc.contributor.editorAlliez, Pierreen_US
dc.contributor.editorWimmer, Michaelen_US
dc.date.accessioned2024-03-23T10:14:30Z
dc.date.available2024-03-23T10:14:30Z
dc.date.issued2024
dc.description.abstractThe need to plan motions for agents with variable shape constraints such as under different formations appears in several virtual and real‐world applications of autonomous agents. In this work, we focus on planning and execution of formation‐aware paths for a group of agents traversing a cluttered environment. The proposed planning framework addresses the trade‐off between being able to enforce a preferable formation when traversing the corridors of the environment, versus accepting to switch to alternative formations requiring less clearance in order to utilize narrower corridors that can lead to a shorter overall path to the final destination. At the planning stage, this trade‐off is addressed with a multi‐layer graph annotated with per‐layer navigation costs and formation transition costs, where each layer represents one formation together with its specific clearance requirement. At the navigation stage, we introduce Corridor Shortest Path Maps (CSPMs), which produce a vector field for guiding agents along the solution corridor, ensuring unobstructed in‐formation navigation in cluttered environments, as well as group motion along lengthwise‐optimal paths in the solution corridor. We also present examples of how our multi‐layer planning framework can be applied to other types of multi‐modal planning problems.en_US
dc.description.number1
dc.description.sectionheadersARTICLES
dc.description.seriesinformationComputer Graphics Forum
dc.description.volume43
dc.identifier.doi10.1111/cgf.14995
dc.identifier.issn1467-8659
dc.identifier.pages14 pages
dc.identifier.urihttps://doi.org/10.1111/cgf.14995
dc.identifier.urihttps://diglib.eg.org/handle/10.1111/cgf14995
dc.publisher© 2024 Eurographics ‐ The European Association for Computer Graphics and John Wiley & Sons Ltd.en_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectglobal path planning
dc.subjectmulti‐modal planning
dc.subjectgroup formation
dc.subjectmulti‐agent navigation
dc.titleFormation‐Aware Planning and Navigation with Corridor Shortest Path Mapsen_US
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