Trajectory Planning for Time-Constrained Agent Synchronization

In the present paper we focus on the problem of synchronizing two agents in movement. An agent, knowing the trajectory of a teammate who it must exchange data with, has to obtain a trajectory to synchronize with this mate before going to its own goal. We develop the trajectory planner for the agent that it is constrained by the time to synchronize with the mate. Firstly, we define the dynamic communication area, produced by a teammate agent in movement, as well as the different parts of this area, used by the proposed planner. Then, we develop a method to obtain trajectories for an agent in order to be able to synchronize with a teammate in movement, whose trajectory is known. Simulated results show that the proposed approach is able to provide the solution according to two chosen criteria: distance or time.