Proceedings ArticleDOI
Collision avoidance under bounded localization uncertainty
Daniel R Claes,Daniel Hennes,Karl Tuyls,Wim Meeussen +3 more
- pp 1192-1198
Reads0
Chats0
TLDR
Their close and error-bounded convex approximation of the localization density distribution results in collision-free paths under uncertainty, while in many algorithms the robots are approximated by circumscribed radii, the authors use the convex hull to minimize the overestimation in the footprint.Abstract:
We present a multi-mobile robot collision avoidance system based on the velocity obstacle paradigm. Current positions and velocities of surrounding robots are translated to an efficient geometric representation to determine safe motions. Each robot uses on-board localization and local communication to build the velocity obstacle representation of its surroundings. Our close and error-bounded convex approximation of the localization density distribution results in collision-free paths under uncertainty. While in many algorithms the robots are approximated by circumscribed radii, we use the convex hull to minimize the overestimation in the footprint. Results show that our approach allows for safe navigation even in densely packed environments.read more
Citations
More filters
Journal ArticleDOI
Evolutionary dynamics of multi-agent learning: a survey
TL;DR: This article surveys the dynamical models that have been derived for various multi-agent reinforcement learning algorithms, making it possible to study and compare them qualitatively, and provides a roadmap on the progress that has been achieved in analysing the evolutionary dynamics of multi- agent learning.
Journal ArticleDOI
Distributed multi-robot collision avoidance via deep reinforcement learning for navigation in complex scenarios
TL;DR: A decentralized sensor-level collision-avoidance policy for multi-robot systems, which enables a robot to make effective progress in a crowd without getting stuck and has been successfully deployed on different types of physical robot platforms without tedious parameter tuning.
Journal ArticleDOI
Deep-Learned Collision Avoidance Policy for Distributed Multiagent Navigation
Pinxin Long,Wenxi Liu,Jia Pan +2 more
TL;DR: In this article, the authors present an end-to-end framework to generate reactive collision avoidance policy for efficient distributed multiagent navigation, which formulates an agent's navigation strategy as a deep neural network mapping from the observed noisy sensor measurements to the agent's steering commands in terms of movement velocity.
Journal ArticleDOI
Cooperative Collision Avoidance for Nonholonomic Robots
TL;DR: The method builds on the concept of reciprocal velocity obstacles and extends it to respect the kinodynamic constraints of the robot and account for a grid-based map representation of the environment and solve an optimization in the space of control velocities with additional constraints.
Journal ArticleDOI
Toward Socially Aware Robot Navigation in Dynamic and Crowded Environments: A Proactive Social Motion Model
Xuan-Tung Truong,Trung Dung Ngo +1 more
TL;DR: The results show that the developed socially aware navigation framework allows a mobile robot to navigate safely, socially, and proactively while guaranteeing human safety and comfort in crowded and dynamic environments.
References
More filters
Proceedings Article
ROS: an open-source Robot Operating System
TL;DR: This paper discusses how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.
Book ChapterDOI
Introduction to Algorithms
TL;DR: This chapter provides an overview of the fundamentals of algorithms and their links to self-organization, exploration, and exploitation.
Journal ArticleDOI
The dynamic window approach to collision avoidance
TL;DR: This approach, designed for mobile robots equipped with synchro-drives, is derived directly from the motion dynamics of the robot and safely controlled the mobile robot RHINO in populated and dynamic environments.
Journal ArticleDOI
Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
TL;DR: In this article, the authors proposed an approach to compute an accurate proposal distribution, taking into account not only the movement of the robot, but also the most recent observation, which drastically decreases the uncertainty about the robot's pose in the prediction step of the filter.