Related papers: DCAD: Decentralized Collision Avoidance with Dynam…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…
Ensuring safety and motion consistency for robot navigation in occluded, obstacle-dense environments is a critical challenge. In this context, this study presents an occlusion-aware Consistent Model Predictive Control (CMPC) strategy. To…
This paper presents an integrated navigation framework for Autonomous Mobile Robots (AMRs) that unifies environment representation, trajectory generation, and Model Predictive Control (MPC). The proposed approach incorporates a…
Vision-based autonomous urban driving in dense traffic is quite challenging due to the complicated urban environment and the dynamics of the driving behaviors. Widely-applied methods either heavily rely on hand-crafted rules or learn from…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…
A simple and reliable algorithm for collision avoidance maneuvers (CAMs), capable of computing impulsive, multi-impulsive, and low-thrust maneuvers, is proposed. The probability of collision (PoC) is approximated by a polynomial of…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
Cooperative control of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic, where human-driven vehicles with unknown dynamics coexist, data-driven predictive control techniques allow for CAV safe and…
In this paper, we present an implementation of 3-D reciprocal collision avoidance on real quadrotor helicopters where each quadrotor senses the relative position and velocity of other quadrotors using an on-board camera. We show that using…
Uncertainties arising from localization error, trajectory prediction errors of the moving obstacles and environmental disturbances pose significant challenges to robot's safe navigation. Existing uncertainty-aware planners often approximate…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
This paper details an approach to linearise differentiable but non-convex collision avoidance constraints tailored to convex shapes. It revisits introducing differential collision avoidance constraints for convex objects into an optimal…
We consider a scenario in which a group of quadrotors is tasked at tracking multiple stationary targets in an unknown, bounded environment. The quadrotors search for targets along a spatial grid overlaid on the environment while performing…
Designing motion control and planning algorithms for multilift systems remains challenging due to the complexities of dynamics, collision avoidance, actuator limits, and scalability. Existing methods that use optimization and distributed…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…