Abstract — This paper proposes a computational method to solve constrained cooperative motion planning problems for multiple vehicles undergoing translational and rotational motions. The problem is solved by means of the Lie group pro-jection operator approach, a recently developed optimization strategy for solving continuous-time optimal control problems on Lie groups. State constraints (for collision avoidance) are handled by means of a set of barrier functions, turning the optimization approach into an interior point method. A sample computation is shown to demonstrate the effectiveness of the method. I
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