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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