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- W2147756883 abstract "In this paper we present a formal approach to reciprocal collision avoidance for multiple mobile robots sharing a common 2-D or 3-D workspace whose dynamics are subject to linear differential constraints. Our approach defines a protocol for robots to select their control input independently (i.e. without coordination with other robots) while guaranteeing collision-free motion for all robots, assuming the robots can perfectly observe each other's state. To this end, we extend the concept of LQR-Obstacles (which is a generalization of Velocity Obstacles to robots with dynamics for collision avoidance among static obstacles) for reciprocal collision avoidance among multiple robots. We implemented and tested our approach in 3-D simulation environments for reciprocal collision avoidance of quadrotor helicopters, which have complex dynamics in 16-D state spaces. Our results show that our approach enables collision avoidance among over a hundred quadrotors in tight workspaces at real-time computation rates." @default.
- W2147756883 created "2016-06-24" @default.
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- W2147756883 date "2013-05-01" @default.
- W2147756883 modified "2023-10-03" @default.
- W2147756883 title "Reciprocal collision avoidance for robots with linear dynamics using LQR-Obstacles" @default.
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- W2147756883 doi "https://doi.org/10.1109/icra.2013.6631118" @default.
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