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This paper presents an online optimization-based approach to compute trajectories to enable substitution of robots in formation-based deployments with durations that exceed the energy capacity of individual systems. The proposed algorithm computes trajectories in a multi-robot context to ensure a collision-free exchange, even where congestion is a concern. The quality of the resulting trajectories...
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover,...
The proposed concept shows a method of solving emerging path planning conflict situations within a heterogeneous multi-robot system. Emerging conflict situations are solved by a decentralized system-wide communication, which includes an active exchange of relevant path planning information among all participants. Detection and prevention of collisions is based on applying geometrical operations on...
In the recent years, Autonomous Guided Vehicles (AGVs) are gradually integrated to warehouse management systems. The employment of AGVs has numerous advantages over conventional warehouse systems in terms of cost, scalability and efficiency. In this work, we present the development of a small-scale test-bed platform for testing and validating warehouse automation control algorithms utilizing a swarm...
Navigation through an intersection is a fundamental task that will enable an autonomous car to operate in a real traffic environment. Previous studies about intersection navigation generally assume vehicle to vehicle communication ability for all of the vehicles. Since this is unattainable in the near future, we focus on the scenario that vehicles on the road cannot communicate with each other. A...
The paper presents a controller-observer architecture with decentralized fault tolerance strategy for a networked team of autonomous robots. In the proposed architecture, each robot runs a decentralized observer to estimate the overall system state and a distributed control law for centroid and formation tracking control. The decentralized observer is used to compute a set of residuals in charge of...
This paper presents a collision avoidance algorithm based on the virtual target path-following guidance technique, developed for Unmanned Surface Vehicle (USV) multiagent frameworks. The proposed collision avoidance procedure is integrated with the distributed guidance module already developed for cooperative and coordinated navigation of USVs, in particular with Cooperative Path Following and Wingman-based...
We formulate a graph rigidity-based, adaptive formation control law for multiple robotic vehicles moving on the plane that explicitly accounts for the vehicle dynamics while allowing for parametric uncertainty. We consider a class of underactuated vehicles modeled by Euler-Lagrange-like equations of motion. The control is designed via backstepping while exploiting the structural properties of the...
This paper treats the safety issues in coordinated transportation of an object via multiple Unmanned Aerial Vehicles with Manipulator Systems (UAVMS); in particular, the case of obstacle avoidance is considered. The proposed paradigm is based on the so-called Null-Space-based Behavioral (NSB) control approach, that allows to achieve multiple tasks simultaneously. Two different scenarios of bar transportation...
This paper presents a collision avoidance algorithm for multiple aerial vehicle systems to be applied in real-time. The proposed algorithm is based on the 3D-Optimal Reciprocal Collision Avoidance (ORCA) algorithm. Several improvements have been implemented such as considering dynamic constraints of the UAV model and static obstacles, so it can be used in realistic environments. The algorithm has...
Path planning is one of the critical issues in mobile robot applications. Traditional methods for path planning in unknown dynamic environment generally plan one step rather than multiple controlling steps. This paper proposes an approach with multiple controlling steps which integrates receding horizon control (RHC) for mobile robot path planning in which the obstacle avoidance problem is converted...
This paper presents a novel method on the motion and path planning for unicycle robots in environments with static circular obstacles. The method employs a family of 2-dimensional analytic vector fields, which have singular points of high-order type and whose integral curves exhibit various patterns depending on the value of a parameter λ. More specifically, for a known value of λ the vector field...
Collision avoidance is a fundamental problem in navigation. In this paper, we present a novel method of cooperative movement planning to examine how two vehicles can orchestrate their movements so as to avoid collisions and subsequently return to their intended paths. Movement planning in this research is solved by regarding it as a decision process. When the vehicles are at risk of a collision, the...
We consider the problem of capturing a target by a team of kinematically controlled non-holonomic Dubins-like vehicles based on range-only measurements. Every vehicle has access to the distance to the target and the distances to the companions from the given disc sector centered at this vehicle. The objective is to drive all vehicles to the circle of the prescribed radius centered at the target, to...
We present a simple biologically inspired strategy for navigation a unicycle-like robot towards a target while avoiding collisions with moving obstacles. Mathematically rigorous analysis of the proposed approach is provided. The convergence and performance of the algorithm is demonstrated via extensive computer simulations.
A key requirement for any mobile robot is achieving safe motions. This is especially difficult in a large dynamic environment where hostile objects must be avoided with incomplete information. This paper presents a novel hierarchical architecture that Team MAGICian developed, which integrates multi-vehicle tactical planning, path planning, collision avoidance, trajectory generation and dynamic vehicle...
Formation control is an important field in multi-robot coordinated control. Solution of formation navigation in structured static environment is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for leader robot. Leader robot is forced to track generated trajectory, while followers' trajectories are generated based on the trajectory...
In this paper a method for distributed reciprocal collision avoidance among multiple non-holonomic robots with bike kinematics is presented. The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collision avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like...
Real world Multi-Vehicle Motion Planning (MVMP) problems require the optimization of suitable performance measures under an array of complex and challenging constraints involving kinematics, dynamics, communication connectivity, target tracking, and collision avoidance. The general MVMP problem can thus be formulated as a mathematical program (MP). In this paper we present a mathematical programming...
This paper proposes a gradient tracking algorithm based on artificial harmonic potential fields, to support the platooning of a team of nonholonomic mobile robots. The main motivation is the need of dynamically changing the goal-point associated with each mobile robot, in order to guarantee the platoon string stability. Mobile obstacles are taken into account with an approach based on the so-called...
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