A Real-Time and Fully Distributed Approach to Motion Planning for Multirobot Systems

Zhou, Yuan; Hu, Hesuan; Liu, Yang; Lin, Shang-Wei; Ding, Zuohua

doi:10.1109/tsmc.2017.2750911

Cited by 41 publications

(24 citation statements)

References 40 publications

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“…In [17] a mathematical programming and distributed receding horizon approach is used for MRS MP. Robots are required to communicate and exchange their current and most recent states.…”

Section: Related Workmentioning

confidence: 99%

“…Our approach closely relates to the one presented in [17]. The main differences consist in how collision constraints are handled and how localization and tracking errors are modeled.…”

Section: Related Workmentioning

confidence: 99%

“…The main differences consist in how collision constraints are handled and how localization and tracking errors are modeled. In [17] the problem of having non-differentiable constraints for obstacle avoidance is addressed by transforming them into smooth nonlinear constraints. Conversely, our work derives differentiable smooth constraints from sampled data (inflated occupancy grids given by the perception module) by doing local interpolations around sampled points in robots' planned trajectories.…”

Section: Related Workmentioning

confidence: 99%

“…Conversely, our work derives differentiable smooth constraints from sampled data (inflated occupancy grids given by the perception module) by doing local interpolations around sampled points in robots' planned trajectories. As for localization and tracking errors, [17] assumes they are always inferior to a small constant while our work uses a probabilistic model and confidence regions to produce robust collision-free trajectories.…”

Section: Related Workmentioning

confidence: 99%

See 3 more Smart Citations

Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach

Filho

Lucet²,

Filliat

2018

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)

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HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

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“…In [17] a mathematical programming and distributed receding horizon approach is used for MRS MP. Robots are required to communicate and exchange their current and most recent states.…”

Section: Related Workmentioning

confidence: 99%

“…Our approach closely relates to the one presented in [17]. The main differences consist in how collision constraints are handled and how localization and tracking errors are modeled.…”

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 2 more Smart Citations

Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach

Filho

Lucet²,

Filliat

2018

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)

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“…To achieve the above privacy requirements, several methods have been proposed in literature. Most of them focus on the planning of flight paths that can avoid the intervention with known restricted areas or privacy-sensitive regions [5], [6] because the effectiveness of path planning for conflict avoidance with various constraints has been well demonstrated [7], [8]. Additionally, due to the limitations of tasks, motion space, and battery capacity, a UAV cannot always find a path satisfying all the privacy requirements using existing motion planning methods [5].…”

Section: Introductionmentioning

confidence: 99%

Privacy-Aware UAV Flights through Self-Configuring Motion Planning

Luo

Jin

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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During flights, an unmanned aerial vehicle (UAV) may not be allowed to move across certain areas due to soft constraints such as privacy restrictions. Current methods on self-adaption focus mostly on motion planning such that the trajectory does not trespass predetermined restricted areas. When the environment is cluttered with uncertain obstacles, however, these motion planning algorithms are not flexible enough to find a trajectory that satisfies additional privacy-preserving requirements within a tight time budget during the flights. In this paper, we propose a privacy risk aware motion planning method through the reconfiguration of privacy-sensitive sensors. It minimises environmental impact by re-configuring the sensor during flight, while still guaranteeing the safety and energy hard constraints such as collision avoidance and timeliness. First, we formulate a model for assessing privacy risks of dynamically detected restricted areas. In case the UAV cannot find a feasible solution to satisfy both hard and soft constraints from the current configuration, our decision making method can then produce an optimal reconfiguration of the privacysensitive sensor with a more efficient trajectory. We evaluate the proposal through various simulations with different settings in a virtual environment and also validate the approach through real test flights on DJI Matrice 100 UAV.

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Multi-MAV Autonomous Full Coverage Search in Cluttered Forest Environments

Marelli

Meng

et al. 2022

J Intell Robot Syst

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A Real-Time and Fully Distributed Approach to Motion Planning for Multirobot Systems

Cited by 41 publications

References 40 publications

Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach

Experimental Validation of a Multirobot Distributed Receding Horizon Motion Planning Approach

Privacy-Aware UAV Flights through Self-Configuring Motion Planning

Multi-MAV Autonomous Full Coverage Search in Cluttered Forest Environments

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