Related papers: Control Strategies for Mobile Robot With Obstacle …
Due to the complex and dynamic character of intersection scenarios, the autonomous driving strategy at intersections has been a difficult problem and a hot point in the research of intelligent transportation systems in recent years. This…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
Autonomous driving requires reliable collision avoidance in dynamic environments. Nonlinear Model Predictive Controllers (NMPCs) are suitable for this task, but struggle in time-critical scenarios requiring high frequency. To meet this…
This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…
In practice, navigation of mobile robots in confined environments is often done using a spatially discrete cost-map to represent obstacles. Path following is a typical use case for model predictive control (MPC), but formulating constraints…
Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
Developing a safe, stable, and efficient obstacle avoidance policy in crowded and narrow scenarios for multiple robots is challenging. Most existing studies either use centralized control or need communication with other robots. In this…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…
This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…
In this paper we present a novel method for obstacle avoidance using the stereo camera. The conventional obstacle avoidance methods and their limitations are discussed. A new algorithm is developed for the real-time obstacle avoidance which…
This paper addresses the problem of exploring a region using the Hilbert's space-filling curve in the presence of obstacles. No prior knowledge of the region being explored is assumed. An online algorithm is proposed which can implement…
Fast and reliable obstacle avoidance is an important task for mobile robots. In this work, we propose an efficient reactive system that provides high-quality obstacle avoidance while running at hundreds of hertz with minimal resource usage.…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…