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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Bibliographic Details
Published in:	2016 IEEE International Conference on Robotics and Automation (ICRA) pp. 5356 - 5363
Main Authors:	Alonso-Mora, Javier, Montijano, Eduardo, Schwager, Mac, Rus, Daniela
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.05.2016
Subjects:	Collision avoidance Navigation Optimization Planning Programming Robot kinematics
Online Access:	Get full text
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Summary:	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.
DOI:	10.1109/ICRA.2016.7487747