Abstract
In this work, we solve the labeled multi-robot planning problem. Most proposed algorithms to date have modeled robots as kinematic or kinodynamic agents in planar environments, making them impractical for real-world systems. Here, we present experiments to validate a centralized multi-robot planning and trajectory generation method that explicitly accounts for robots with higher-order dynamics. First, we demonstrate successful execution of solution trajectories. Next, we verify the robustness of the robots’ trajectory tracking to unmodeled external disturbances, in particular, the aerodynamic interactions between co-planar neighbors. Finally, we apply our algorithm to navigating quadrotors away from the downwash of their neighbors to improve safety in three-dimensional workspaces.
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Acknowledgments
We gratefully acknowledge the support of ONR grants N00014-09-1-1051 and N00014-09-1-103, ARL grant W911NF-08-2-0004, ARO grant W911NF-13-1-0350, and Exyn Technologies. Sarah Tang is supported by NSF Research Fellowship Grant No. DGE-1321851.
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Tang, S., Thomas, J., Kumar, V. (2017). Safe Navigation of Quadrotor Teams to Labeled Goals in Limited Workspaces. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_51
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DOI: https://doi.org/10.1007/978-3-319-50115-4_51
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