CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments
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arXiv
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866917939852083200 |
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| author | Kratky, Vit Penicka, Robert Horyna, Jiri Stibinger, Petr Baca, Tomas Petrlik, Matej Stepan, Petr Saska, Martin |
| author_facet | Kratky, Vit Penicka, Robert Horyna, Jiri Stibinger, Petr Baca, Tomas Petrlik, Matej Stepan, Petr Saska, Martin |
| contents | In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly evident in mobile robotics, where agents benefit from being organized and navigated in formation for a variety of real-world applications requiring frequent alterations in formation shape for efficient navigation or task completion. Given the constrained operational time inherent to battery-powered mobile robots, the time needed to complete the formation reshaping process is crucial for their efficient operation, especially in case of multi-rotor Unmanned Aerial Vehicles (UAVs). The proposed Collision-Aware Time-Optimal formation Reshaping Algorithm (CAT-ORA) builds upon the Hungarian algorithm for the solution of the robot-to-goal assignment implementing the inter-agent collision avoidance through direct constraints on mutually exclusive robot-goal pairs combined with a trajectory generation approach minimizing the duration of the reshaping process. Theoretical validations confirm the optimality of CAT-ORA, with its efficacy further showcased through simulations, and a real-world outdoor experiment involving 19 UAVs. Thorough numerical analysis shows the potential of CAT-ORA to decrease the time required to perform complex formation reshaping tasks by up to 49%, and 12% on average compared to commonly used methods in randomly generated scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_00603 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments Kratky, Vit Penicka, Robert Horyna, Jiri Stibinger, Petr Baca, Tomas Petrlik, Matej Stepan, Petr Saska, Martin Robotics Systems and Control In this paper, we introduce an algorithm designed to address the problem of time-optimal formation reshaping in three-dimensional environments while preventing collisions between agents. The utility of the proposed approach is particularly evident in mobile robotics, where agents benefit from being organized and navigated in formation for a variety of real-world applications requiring frequent alterations in formation shape for efficient navigation or task completion. Given the constrained operational time inherent to battery-powered mobile robots, the time needed to complete the formation reshaping process is crucial for their efficient operation, especially in case of multi-rotor Unmanned Aerial Vehicles (UAVs). The proposed Collision-Aware Time-Optimal formation Reshaping Algorithm (CAT-ORA) builds upon the Hungarian algorithm for the solution of the robot-to-goal assignment implementing the inter-agent collision avoidance through direct constraints on mutually exclusive robot-goal pairs combined with a trajectory generation approach minimizing the duration of the reshaping process. Theoretical validations confirm the optimality of CAT-ORA, with its efficacy further showcased through simulations, and a real-world outdoor experiment involving 19 UAVs. Thorough numerical analysis shows the potential of CAT-ORA to decrease the time required to perform complex formation reshaping tasks by up to 49%, and 12% on average compared to commonly used methods in randomly generated scenarios. |
| title | CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2412.00603 |