Abstract:
This paper presents a method for navigating a team of robots in formation in 2D and 3D environments with static and dynamic obstacles. The method is local and computes th...View moreMetadata
Abstract:
This paper presents a method for navigating a team of robots in formation in 2D and 3D environments with static and dynamic obstacles. The method is local and computes the optimal parameters for the formation within a neighborhood of the robots, allowing for reconfigurations, when required, by considering a set of target formations. The method consists of first computing the largest collision-free convex polytope in a neighborhood of the robots, followed by a constrained optimization via sequential convex programming where the optimal parameters for the formation are obtained. 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 performed well in simulations with a large team of quadrators and in experiments with two mobile manipulators carrying a rigid object.
Date of Conference: 28 September 2015 - 02 October 2015
Date Added to IEEE Xplore: 17 December 2015
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