Prescribed Time Scale Robot Navigation

Vrohidis, Constantinos; Vlantis, Panagiotis; Bechlioulis, Charalampos P.; Kyriakopoulos, Kostas J.

doi:10.1109/lra.2018.2794616

Cited by 25 publications

(23 citation statements)

References 13 publications

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“…This robot interaction with only one obstacle at a time has also been demonstrated in the feedback control-based 1 A safety margin can also be included, which needs, however, to be incorporated in the constantr of (6). related literature, e.g., , Filippidis and Kyriakopoulos (2011), Lionis, Papageorgiou, and Kyriakopoulos (2007), Paternain et al (2017) and Vrohidis et al (2018), which deals with simplified single-integrator models, as well as in the more discrete decision making bug algorithms (Lumelsky, 2005), which involve circumnavigation of obstacles and can handle in general complex unknown environments.…”

Section: Resultsmentioning

confidence: 99%

“…also known as a sphere world (Koditschek & Rimon, 1990). We consider the following common feasibility assumption (Koditschek & Rimon, 1990;Vrohidis et al, 2018)…”

Section: Problem Statementmentioning

confidence: 99%

“…A transformation of arbitrarily shaped worlds to points worlds, which facilitates the motion planning problem, is also considered in Loizou (2017) and Vlantis et al (2018) and in Loizou (2014) for multi-robot systems. The recent works Loizou (2017), Vrohidis, Vlantis, Bechlioulis, and Kyriakopoulos (2018) guarantee also safe navigation in predefined time.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive robot navigation with collision avoidance subject to 2nd-order uncertain dynamics

Verginis

Dimarogonas

2021

Automatica

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This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control techniques to guarantee the collision-free robot navigation to a predefined goal while compensating for the dynamic model uncertainties. We base our findings on sphere world-based configuration spaces, but extend our results to arbitrary star-shaped environments by using previous results on configuration space transformations. Moreover, we propose an algorithm for extending the control scheme to decentralized multi-robot systems. Finally, extensive simulation results verify the theoretical findings.

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Section: Resultsmentioning

confidence: 99%

“…also known as a sphere world (Koditschek & Rimon, 1990). We consider the following common feasibility assumption (Koditschek & Rimon, 1990;Vrohidis et al, 2018)…”

Section: Problem Statementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive robot navigation with collision avoidance subject to 2nd-order uncertain dynamics

Verginis

Dimarogonas

2021

Automatica

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“…C OLLISION avoidance in systems comprised of multiple robotic agents is a crucial safety property that needs to be always achieved. Except for the single-agent case [1], [2], multi-agent collision avoidance is tackled in a variety of works (e.g., [3]- [8]), where the multi-agent system aims for a primary objective (navigation, formation). The majority of the related works considers spherical agents, which provide a straightforward metric for the inter-agent or the agent-toobstacle distances.…”

Section: Introductionmentioning

confidence: 99%

Closed-Form Barrier Functions for Multi-Agent Ellipsoidal Systems With Uncertain Lagrangian Dynamics

Verginis

Dimarogonas

2019

IEEE Control Syst. Lett.

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In this paper, we design a decentralized control protocol for the collision avoidance of a multi-agent system, which is comprised of 3D ellipsoidal agents that obey 2nd-order uncertain Lagrangian dynamics. More specifically, we derive a novel closed-form smooth barrier function that resembles a distance metric between 3D ellipsoids and can be used by feedback-based control laws to guarantee inter-agent collision avoidance. Discontinuities and adaptation laws are incorporated in the control protocol to deal with the uncertainties of the dynamic model. The control laws are decentralized, in the sense that each agent uses only local sensing information. Simulation results verify the theoretical findings.

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“…The defining properties of a navigation function ensure that its negative gradient repels the agent away from obstacles and attracts the agent toward the target in such a way that they do not posit local minima other than the desired destination [15]. Navigation functions have been adapted so that they work in finite time [16], [17], and they have been extended to solve problems with multiple agents and non stationary targets [18], [19].…”

Section: Introductionmentioning

confidence: 99%

Navigation of a Quadratic Potential with Ellipsoidal Obstacles

Kumar

Paternain

Ribeiro

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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Given a convex quadratic potential of which its minimum is the agent's goal and a space populated with ellipsoidal obstacles, one can construct a Rimon-Koditschek artificial potential to navigate. These potentials are such that they combine the natural attractive potential of which its minimum is the destination of the agent with potentials that repel the agent from the boundary of the obstacles. This is a popular approach to navigation problems since it can be implemented with spatially local information that is acquired during operation time. However, navigation is only successful in situations where the obstacles are not too eccentric (flat). This paper proposes a modification to gradient dynamics that allows successful navigation of an environment with a quadratic cost and ellipsoidal obstacles regardless of their eccentricity. This is accomplished by altering gradient dynamics with the addition of a second order curvature correction that is intended to imitate worlds with spherical obstacles in which Rimon-Koditschek potentials are known to work. Convergence to the goal and obstacle avoidance is established from every initial position in the free space. Results are numerically verified with a discretized version of the proposed flow dynamics.

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Prescribed Time Scale Robot Navigation

Cited by 25 publications

References 13 publications

Adaptive robot navigation with collision avoidance subject to 2nd-order uncertain dynamics

Adaptive robot navigation with collision avoidance subject to 2nd-order uncertain dynamics

Closed-Form Barrier Functions for Multi-Agent Ellipsoidal Systems With Uncertain Lagrangian Dynamics

Navigation of a Quadratic Potential with Ellipsoidal Obstacles

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