Related papers: Distributed Swarm Collision Avoidance Based on Ang…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…
Animal swarms displaying a variety of typical flocking patterns would not exist without underlying safe, optimal and stable dynamics of the individuals. The emergence of these universal patterns can be efficiently reconstructed with…
Collaborative path planning for robot swarms in complex, unknown environments without external positioning is a challenging problem. This requires robots to find safe directions based on real-time environmental observations, and to…
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update…
Connected and automated vehicles (CAVs) are viewed as a special kind of robots that have the potential to significantly improve the safety and efficiency of traffic. In contrast to many swarm robotics studies that are demonstrated in labs…
Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
For real-world navigation, it is important to endow robots with the capabilities to navigate safely and efficiently in a complex environment with both dynamic and non-convex static obstacles. However, achieving path-finding in non-convex…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total…
Although the field of distributed optimization is well-developed, relevant literature focused on the application of distributed optimization to multi-robot problems is limited. This survey constitutes the second part of a two-part series on…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…
In this paper, we consider the optimal coordination of automated vehicles at intersections under fixed crossing orders. We formulate the problem using direct optimal control and exploit the structure to construct a semi-distributed…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Quadrotor motion planning in complex environments leverage the concept of safe flight corridor (SFC) to facilitate static obstacle avoidance. Typically, SFCs are constructed through convex decomposition of the environment's free space into…
This paper develops a probabilistic anticipation algorithm for dynamic objects observed by an autonomous robot in an urban environment. Predictive Gaussian mixture models are used due to their ability to probabilistically capture continuous…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…