Publication

S. Zhao, Y. Liu, H. Choset and Z. Ren. Mixed Integer Conic Programming for Multi-Agent Motion Planning in Continuous Space. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 10540-10547, 2025.

Abstract: This paper proposes a Mixed Integer Conic Programming formulation for Multi-Agent Motion Planning in continuous spaces with static obstacles. The formulation complements graph-based, mixed-integer programming, and trajectory-optimization approaches by modeling collision avoidance and trajectory costs in a conic optimization framework. The paper validates the formulation, compares it against search-and-sampling and MIP baselines, and demonstrates the method on multiple drones in a laboratory setting.

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