2013 16th International Conference on Advanced Robotics (ICAR) 2013
DOI: 10.1109/icar.2013.6766474
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Decentralized collision avoidance for large teams of robots

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Cited by 8 publications
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“…3) along q d i (t) while guaranteeing no overlapping with other vehicles' regions, i.e., that 1 2 r p ], the latter condition would also guarantee that no two vehicles will collide (a formal proof of the last statement is given Section V). This idea is similar to the use of reserved disks in [11,38] and conflict regions in [32] but applied herein to vehicles with acceleration constraints and input disturbances. It is also similar to the concept of Tube Model Predictive Control [39], where control commands and trajectories are designed for a nominal (i.e., virtual) system ignoring disturbances.…”
Section: Motivation Of the Two-layer Control Systemmentioning
confidence: 99%
“…3) along q d i (t) while guaranteeing no overlapping with other vehicles' regions, i.e., that 1 2 r p ], the latter condition would also guarantee that no two vehicles will collide (a formal proof of the last statement is given Section V). This idea is similar to the use of reserved disks in [11,38] and conflict regions in [32] but applied herein to vehicles with acceleration constraints and input disturbances. It is also similar to the concept of Tube Model Predictive Control [39], where control commands and trajectories are designed for a nominal (i.e., virtual) system ignoring disturbances.…”
Section: Motivation Of the Two-layer Control Systemmentioning
confidence: 99%