Related papers: Deadlock-free, Safe, and Decentralized Multi-Robot…
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…
Fully decentralized, safe, and deadlock-free multi-robot navigation in dynamic, cluttered environments is a critical challenge in robotics. Current methods require exact state measurements in order to enforce safety and liveness e.g. via…
This paper presents a fully decentralized approach for realtime non-cooperative multi-robot navigation in social mini-games, such as navigating through a narrow doorway or negotiating right of way at a corridor intersection. Our…
We present a method for deadlock-free and collision-free navigation in a multi-robot system with nonholonomic robots. The problem is solved by quadratic programming and is applicable to most wheeled mobile robots with linear kinematic…
Robots in densely populated real-world environments frequently encounter constrained and cluttered situations such as passing through narrow doorways, hallways, and corridor intersections, where conflicts over limited space result in…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Collision avoidance for multirobot systems is a well studied problem. Recently, control barrier functions (CBFs) have been proposed for synthesizing controllers guarantee collision avoidance and goal stabilization for multiple robots.…
In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…
This work introduces a Strategic Pseudo-Goal Perturbation (SPGP) technique, a novel approach to resolve deadlock situations in multi-agent navigation scenarios. Leveraging the robust framework of Safety Barrier Certificates, our method…
One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
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…