Distributed Multi-Robot Formation Control among Obstacles: A Geometric and Optimization Approach with Consensus
Name
16-alonsomora-icra-distribformation.pdf
Size
536.04 KB
Format
Adobe PDF
Checksum (MD5)
86d91cf58caadb332fabc951040f9946
Author(s)
Alonso-Mora, Javier
Montijano, Eduardo
Schwager, Mac
Rus, Daniela L.
Date Issued
May 2016
Journal
Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
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).
Version
Author's final manuscript
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://ras.papercept.net/conferences/conferences/ICRA16/program/ICRA16_ContentListWeb_4.html#thcbt2_08
