Nav-SCOPE: Swarm Robot Cooperative Perception and Coordinated Navigation
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arXiv
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| Hauptverfasser: | , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866909761627226112 |
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| author | Li, Chenxi Lu, Weining Lin, Qingquan Meng, Litong Li, Haolu Liang, Bin |
| author_facet | Li, Chenxi Lu, Weining Lin, Qingquan Meng, Litong Li, Haolu Liang, Bin |
| contents | This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc networks. Then, the environmental uncertainties of each robot are reduced by interaction fields that deliver complementary information. Finally, path optimization is achieved, enabling self-organized coordination with effective convergence, divergence, and collision avoidance. Our method is fully interpretable and ready for deployment without gaps. Comprehensive simulations and real-world experiments demonstrate reduced path redundancy, robust performance across various tasks, and minimal demands on computation and communication. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_10049 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Nav-SCOPE: Swarm Robot Cooperative Perception and Coordinated Navigation Li, Chenxi Lu, Weining Lin, Qingquan Meng, Litong Li, Haolu Liang, Bin Robotics This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc networks. Then, the environmental uncertainties of each robot are reduced by interaction fields that deliver complementary information. Finally, path optimization is achieved, enabling self-organized coordination with effective convergence, divergence, and collision avoidance. Our method is fully interpretable and ready for deployment without gaps. Comprehensive simulations and real-world experiments demonstrate reduced path redundancy, robust performance across various tasks, and minimal demands on computation and communication. |
| title | Nav-SCOPE: Swarm Robot Cooperative Perception and Coordinated Navigation |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.10049 |