A decoupled time-optimized multi-robot path parameterization method

This paper presents a decoupled time-optimized path parameterization method for coordinating multiple robots with kinodynamic constraints in shared workspaces, where each robot follows a predefined geometric path. The proposed approach first computes time-optimal trajectories for individual robots using the Time-Optimal Path Parameterization (TOPP) algorithm, then resolves inter-robot collisions through strategically calculated start-time delays. By introducing the concept of Generalized Collision Regions (GCRs) in coordination space and developing an efficient algorithm to compute delay collision intervals, our method guarantees collision-free motion while minimizing the total operation time. The solution is formulated as a convex optimization problem with linear constraints, enabling efficient computation. Experimental validation using both robotic arms and car-like robots demonstrates the method’s effectiveness.