Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus
This paper presents a distributed method for navigating a team of robots in formation in 2D and 3D environments with static and dynamic obstacles. The robots are assumed to have a reduced communication and visibility radius and share information with their neighbors. Via distributed consensus the ro...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2016
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| Online Access: | http://hdl.handle.net/1721.1/102330 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0003-0058-570X |
| _version_ | 1826211593151578112 |
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| author | Alonso-Mora, Javier Montijano, Eduardo Schwager, Mac Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Alonso-Mora, Javier Montijano, Eduardo Schwager, Mac Rus, Daniela L. |
| author_sort | Alonso-Mora, Javier |
| collection | MIT |
| description | This paper presents a distributed method for navigating a team of robots in formation in 2D and 3D environments with static and dynamic obstacles. The robots are assumed to have a reduced communication and visibility radius and share information with their neighbors. Via distributed consensus the robots compute (a) the convex hull of the robot positions and (b) the largest convex region within free space. The robots then compute, via sequential convex programming, the locally optimal parameters for the formation within this convex neighborhood of the robots. Reconfiguration is allowed, when required, by considering a set of target formations. The robots navigate towards the target collision-free formation with individual local planners that account for their dynamics. The approach is efficient and scalable with the number of robots and performs well in simulations with up to sixteen quadrotors. |
| first_indexed | 2024-09-23T15:08:26Z |
| format | Article |
| id | mit-1721.1/102330 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:08:26Z |
| publishDate | 2016 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1023302022-10-02T00:51:56Z Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus Alonso-Mora, Javier Montijano, Eduardo Schwager, Mac Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Rus, Daniela L. Alonso-Mora, Javier Rus, Daniela L. This paper presents a distributed method for navigating a team of robots in formation in 2D and 3D environments with static and dynamic obstacles. The robots are assumed to have a reduced communication and visibility radius and share information with their neighbors. Via distributed consensus the robots compute (a) the convex hull of the robot positions and (b) the largest convex region within free space. The robots then compute, via sequential convex programming, the locally optimal parameters for the formation within this convex neighborhood of the robots. Reconfiguration is allowed, when required, by considering a set of target formations. The robots navigate towards the target collision-free formation with individual local planners that account for their dynamics. The approach is efficient and scalable with the number of robots and performs well in simulations with up to sixteen quadrotors. United States. Office of Naval Research (pDOT N00014-12-1-1000) United States. Army Research Laboratory (Grant W911NF-08-2-0004) Boeing Company Singapore-MIT Alliance for Research and Technology Center (Future of Urban Mobility Project) Spanish Government (Project DPI2012-32100) Spanish Government (Project DPI2015-69376-R) Spanish Government (Project CUD2013-05) Spanish Government (Grant CAS14/00205) 2016-04-29T14:11:03Z 2016-04-29T14:11:03Z 2016-05 Article http://purl.org/eprint/type/ConferencePaper http://hdl.handle.net/1721.1/102330 Alonso-Mora, Javier, Eduardo Montijano, Mac Schwager, and Daniela Rus. "Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus." 2016 IEEE International Conference on Robotics and Automation (ICRA) (May 2016). https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0003-0058-570X en_US https://ras.papercept.net/conferences/conferences/ICRA16/program/ICRA16_ContentListWeb_4.html#thcbt2_08 Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Alonso-Mora, Javier Montijano, Eduardo Schwager, Mac Rus, Daniela L. Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus |
| title | Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus |
| title_full | Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus |
| title_fullStr | Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus |
| title_full_unstemmed | Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus |
| title_short | Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus |
| title_sort | distributed multi robot formation control among obstacles a geometric and optimization approach with consensus |
| url | http://hdl.handle.net/1721.1/102330 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0003-0058-570X |
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