Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866913481944465408 |
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| author | Mikkelsen, Jeppe Heini Kratky, Vit Galeazzi, Roberto Saska, Martin Fumagalli, Matteo |
| author_facet | Mikkelsen, Jeppe Heini Kratky, Vit Galeazzi, Roberto Saska, Martin Fumagalli, Matteo |
| contents | This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots map their desired velocities into a corresponding desired change in the formation parameters and apply a consensus step to reach agreement on the desired formation and a constraint satisfaction step to ensure collision avoidance within the formation. The constraint set is found such that the probability of collision remains below an upper bound. The method was demonstrated in a manual teleoperation scenario both in simulation and a real-world experiment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_15046 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance Mikkelsen, Jeppe Heini Kratky, Vit Galeazzi, Roberto Saska, Martin Fumagalli, Matteo Robotics Systems and Control This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots map their desired velocities into a corresponding desired change in the formation parameters and apply a consensus step to reach agreement on the desired formation and a constraint satisfaction step to ensure collision avoidance within the formation. The constraint set is found such that the probability of collision remains below an upper bound. The method was demonstrated in a manual teleoperation scenario both in simulation and a real-world experiment. |
| title | Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2408.15046 |