Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots

Alonso–Mora, Javier; Breitenmoser, Andreas; Rufli, Martin; Beardsley, Paul; Siegwart, Roland

doi:10.1007/978-3-642-32723-0_15

Cited by 215 publications

(205 citation statements)

References 15 publications

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“…In complex and dynamic environments like MMRSs, rule-based and graph-based methods are difficult to deal with. A high-level coordination concept combined with reactive control for robots should be more efficient [169] [170].  How to fuse and analyse the information acquired by each individual robot more rationally (and then make the decision more efficient)?…”

Section: Resultsmentioning

confidence: 99%

A Survey and Analysis of Multi-Robot Coordination

Yan

Jouandeau

Chérif

2013

International Journal of Advanced Robotic Systems

517

279

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In the field of mobile robotics, the study of multi-robot systems (MRSs) has grown significantly in size and importance in recent years. Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination. This paper presents a systematic survey and analysis of the existing literature on coordination, especially in multiple mobile robot systems (MMRSs). A series of related problems have been reviewed, which include a communication mechanism, a planning strategy and a decision-making structure. A brief conclusion and further research perspectives are given at the end of the paper.

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Section: Resultsmentioning

confidence: 99%

A Survey and Analysis of Multi-Robot Coordination

Yan

Jouandeau

Chérif

2013

International Journal of Advanced Robotic Systems

517

279

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“…We build on the aforementioned example of CVT-based Voronoi coverage and combine it with reciprocal collision avoidance in velocity space, using the RVO and ORCA 3 methods [9][10][11][12].…”

Section: Combining Voronoi Coverage and Rvomentioning

confidence: 99%

“…2 illustrates the set ORCA τ i in a multi-robot scenario for different types of S AHV i , including S AHV i = D(0 , v max H i ) for holonomic robots with an upper bound on the velocity of v max H i , as well as the S AHV i for differential-drive and bicycle (respectively car-like) robots, whose detailed derivations can be found in [11] and [12]. The extension of the ORCA method to robots with non-holonomic kinematics is based on the idea that a robot i with given kinematic constraints can be enabled by a trajectory tracking controller to track a set of allowed holonomic velocities S AHV i within a certain maximum error bound.…”

Section: Reciprocal Collision Avoidance Using Rvo and Orcamentioning

confidence: 99%

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

Breitenmoser

Martinoli

2016

Springer Tracts in Advanced Robotics

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Although robotic coverage and collision avoidance are active areas of robotics research, the avoidance of collision situations between robots has often been neglected in the context of multi-robot coverage tasks. In fact, for robots of physical size, collisions are likely to happen during deployment and coverage in densely packed multi-robot configurations. For this reason, we aim to motivate by this paper the combined use of multi-robot coverage and reciprocal collision avoidance. We present a taxonomy of collision scenarios in multi-robot coverage problems. In particular, coverage tasks with built-in heterogeneity such as multiple antagonistic objectives or robot constraints are shown to benefit from the combination. Based on our taxonomy, we evaluate four representative robotic use cases in simulation by combining the specific methods of Voronoi coverage and reciprocal velocity obstacles.

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“…Recent work on robot collision avoidance has provided methods that are guaranteed to be collision-free and oscillation-free [5,14,25], even under nonholonomic constraints [2]. These methods rely on the concept of Velocity Obstacles [10], which is an extension of the Configuration Space Obstacle [19] for a time-varying system.…”

Section: Related Workmentioning

confidence: 99%

On Segregative Behaviors Using Flocking and Velocity Obstacles

Santos

Campos

Chaimowicz

2014

Springer Tracts in Advanced Robotics

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This paper presents a novel approach to swarm navigation that combines hierarchical abstractions, flocking behaviors, and an efficient collision avoidance mechanism. Our main objective is to keep large groups of robots segregated while safely navigating in a shared environment. For this, we propose the Virtual Group Velocity Obstacle, which is an extension of the Velocity Obstacle concept for groups of robots. By augmenting velocity obstacles with flocking behaviors and hierarchical abstractions, we are able to navigate robotic swarms in a cohesive and smooth fashion. A series of simulations and real experiments were performed and the results show the effectiveness of the proposed approach.

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Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots

Cited by 215 publications

References 15 publications

A Survey and Analysis of Multi-Robot Coordination

A Survey and Analysis of Multi-Robot Coordination

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

On Segregative Behaviors Using Flocking and Velocity Obstacles

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