Related papers: Variational Collision Avoidance on Riemannian Mani…
In this article we introduce a variational approach to collision avoidance of multiple agents evolving on a Riemannian manifold and derive necessary conditions for extremals. The problem consists of finding non-intersecting trajectories of…
In this work, we study the reduction by a Lie group of symmetries of variational collision avoidance probelms of multiple agents evolving on a Riemannian manifold and derive necessary conditions for the reduced extremals. The problem…
In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The problem consists of finding non-intersecting trajectories between…
In this letter we study variational obstacle avoidance problems on complete Riemannian manifolds. The problem consists of minimizing an energy functional depending on the velocity, covariant acceleration and a repulsive potential function…
This paper studies a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action functional, among a set of admissible curves, which depends on an artificial potential function used to avoid…
We study variational obstacle avoidance problems on complete Riemannian manifolds and apply the results to the construction of piecewise smooth curves interpolating a set of knot points in systems with impulse effects. We derive the…
This paper studies sufficient conditions in a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action functional, among a set of admissible curves, which depends on an artificial potential…
We introduce variational obstacle avoidance problems on Riemannian manifolds and derive necessary conditions for the existence of their normal extremals. The problem consists of minimizing an energy functional depending on the velocity and…
This work is devoted to studying dynamic interpolation for obstacle avoidance. This is a problem that consists of minimizing a suitable energy functional among a set of admissible curves subject to some interpolation conditions. The given…
We study the problem of motion feasibility for multiagent control systems on Lie groups with collision avoidance constraints. We first consider the problem for kinematic left invariant control systems and next, for dynamical control systems…
We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost functions for continuous-time and discrete-time systems. We…
This work presents a distributed MPC-based approach to solving the problem of multi-agent point-to-point transition with optimization-based collision avoidance. The problem is formulated, motivated by the work on collision avoidance for…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
Finding feasible and collision-free paths for multiple nonlinear agents is challenging in the decentralized scenarios due to limited available information of other agents and complex dynamics constraints. In this paper, we propose a fast…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and the uncertainty…
In a singular potential setting, we generalize a method which allows to show that minimizers under topological constraints of the action functional (or of the Maupertuis') are collision-free. This methods applies to $3$-dimensional problems…
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…
As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…