Related papers: Deadlock-Free Collision Avoidance for Nonholonomic…
We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a collision cone, we predict potential collisions and…
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
Despite recent progress on trajectory planning of multiple robots and path planning of a single tethered robot, planning of multiple tethered robots to reach their individual targets without entanglements remains a challenging problem. In…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…
This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle…
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…
This text presents the proofs of the technical facts underlying theoretical justification of the convergence and performance of the novel algorithm for reactive navigation of differential drive wheeled robots in dynamic uncertain…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…
Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…