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This paper investigates a class of motion planning problems where multiple unicycle robots desire to safely reach their respective goal regions with minimal traveling times. We present a distributed algorithm which integrates decoupled optimal feedback planning and distributed conflict resolution. Collision avoidance and finite-time arrival at the goal regions are formally guaranteed. Further, the computational complexity of the proposed algorithm is independent of the robot number. A set of simulations are conduct to verify the scalability and near-optimality of the proposed algorithm.more » « less
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This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to identify the Pareto optimal solutions where no robot can unilaterally reduce its traveling time without extending others’. The consistent approximation of the algorithm in the epigraphical profile sense is guaranteed using set-valued numerical analysis. Simulations show the anytime property and increasing optimality of the proposed algorithm.more » « less
