Paper Info
Title
B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for Probabilistic Multi-Robot Collision Avoidance
Abstract
This paper presents B-UAVC, a distributed collision avoidance method for multi-robot systems that accounts for uncertainties in robot localization. In particular, Buffered Uncertainty-Aware Voronoi Cells (B-UAVC) are employed to compute regions where the robots can safely navigate. By computing a set of chance constraints, which guarantee that the robot remains within its B-UAVC, the method can be applied to non-holonomic robots. A local trajectory for each robot is then computed by introducing these chance constraints in a receding horizon model predictive controller. The method guarantees, under the assumption of normally distributed position uncertainty, that the collision probability between the robots remains below a specified threshold. We evaluate the proposed method with a team of quadrotors in simulations and in real experiments.
Year
DOI
Venue
2019
10.1109/MRS.2019.8901092
2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)
Keywords
Field
DocType
B-UAVC,probabilistic multirobot collision avoidance,distributed collision avoidance method,multirobot systems,robot localization,chance constraints,nonholonomic robots,local trajectory,receding horizon model predictive controller,normally distributed position uncertainty,collision probability,buffered uncertainty-aware Voronoi cells
Control theory,Control theory,Computer science,Horizon,Collision probability,Collision,Voronoi diagram,Probabilistic logic,Robot,Trajectory
Conference
ISBN
Citations 
PageRank 
978-1-7281-2877-1
2
0.37
References 
Authors
12
2
Name
Order
Citations
PageRank
Hai Zhu18722.69
Javier Alonso-Mora237534.15