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We consider the problem of coordinating a collection of robots at anintersection area taking into account dynamical constraints due to actuatorlimitations. We adopt the coordination space approach, which is standard inmultiple robot motion planning. Assuming the priorities between robots areassigned in advance and the existence of a collision-free trajectory respectingthose priorities, we propose a provably safe trajectory planner satisfyingkinodynamic constraints. The algorithm is shown to run in real time and toreturn safe (collision-free) trajectories. Simulation results on synthetic dataillustrate the benefits of the approach.

Priority-based intersection management with kinodynamic constraints