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Erschienen in:
Distributed Online Patrolling with Multi-agent Teams of Sentinels and Searchers Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

verfasst von : Andreas Breitenmoser, Alcherio Martinoli

Erschienen in: Distributed Autonomous Robotic Systems

Verlag: Springer Japan

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Abstract

Although robotic coverage and collision avoidance are active areas of robotics research, the avoidance of collision situations between robots has often been neglected in the context of multi-robot coverage tasks. In fact, for robots of physical size, collisions are likely to happen during deployment and coverage in densely packed multi-robot configurations. For this reason, we aim to motivate by this paper the combined use of multi-robot coverage and reciprocal collision avoidance. We present a taxonomy of collision scenarios in multi-robot coverage problems. In particular, coverage tasks with built-in heterogeneity such as multiple antagonistic objectives or robot constraints are shown to benefit from the combination. Based on our taxonomy, we evaluate four representative robotic use cases in simulation by combining the specific methods of Voronoi coverage and reciprocal velocity obstacles.

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Vorheriges Kapitel A Repartitioning Algorithm to Guarantee Complete, Non-overlapping Planar Coverage with Multiple Robots
Nächstes Kapitel Distributed Safe Deployment of Networked Robots
Fußnoten
1
Refer to Fig. 1 on the left for an illustration and to Sect. 3 for a formal description.
 
2
In real-world scenarios, with positional noise and varying pose estimates for each robot (different from Assumption 3 in Sect. 3), the resulting degenerate Voronoi cells may overlap, which naturally leads to collision situations even farther away from the boundaries of the Voronoi cells.
 
3
Under the linear programming formulation, the RVO method becomes the ORCA method.
 
4
In our case, the Voronoi neighborhood can be used as neighborhood in the RVO computation.
 
5
Intragroup collision avoidance, however, is not considered in [3, 13].
 
6
All the simulations have been conducted in the Matlab environment.
 
8
Only a single collision occurred in a situation where a covering robot was jammed in between two non-cooperative robots that moved in opposite directions from and to the charging area.
 
Literatur
1.
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3.
Cortés, J., Martínez, S., Karatas, T., Bullo, F.: Coverage control for mobile sensing networks. IEEE Trans. Robot. Autom. 20(2), 243–255 (2004)CrossRef
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Du, Q., Faber, V., Gunzburger, M.: Centroidal voronoi tessellations: applications and algorithms. SIAM Rev. 41(4), 637–676 (1999)MathSciNetCrossRefMATH
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Pimenta, L.C.A., Kumar, V., Mesquita, R.C., Pereira, G.A.S.: Sensing and coverage for a network of heterogeneous robots. In Proceedings of the IEEE Conference on Decision and Control, pp. 3947–3952 (2008)
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Dirafzoon, A., Menhaj, M.B., Afshar, A.: Decentralized coverage control for multi-agent systems with nonlinear dynamics. IEICE Trans. 94–D(1), 3–10 (2011)CrossRef
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Parker, L.E.: Distributed intelligence: overview of the field and its application in multi-robot systems. J. Phys. Agents 2(2), 5–14 (2008)
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Breitenmoser, A.: Multi-robot coverage and path planning for the inspection of curved surfaces, Ph.D. dissertation, no. 21009, ETH Zurich (2013)
9.
van den Berg, J., Lin, M.C., Manocha, D.: Reciprocal velocity obstacles for real-time multi-agent navigation, In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1928–1935 (2008)
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van den Berg, J., Guy, S.J., Lin, M.C., Manocha, D.: Reciprocal n-body collision avoidance. In: Proceedings of the 14th International Symposium on Robotics Research, STAR, vol. 70, pp. 3–19 (2011)
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Alonso-Mora, J., Breitenmoser, A., Rufli, M., Beardsley, P., Siegwart, R.: Optimal reciprocal collision avoidance for multiple non-holonomic robots. In: Proceedings of the 10th International Symposium on Distributed Autonomous Robotic Systems, STAR, vol. 83, pp. 203–216 (2013)
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Alonso-Mora, J., Breitenmoser, A., Beardsley, P., Siegwart, R.: Reciprocal collision avoidance for multiple car-like robots, In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 360–366 (2012)
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Tan, J., Xi, N., Sheng, W., Xiao, J.: Modeling multiple robot systems for area coverage and cooperation. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2568–2573 (2004)
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Santos, V.G., Campos, M.F.M., Chaimowicz, L.: On segregative behaviors using flocking and velocity obstacles. In: Proceedings of the 11th International Symposium on Distributed Autonomous Robotic Systems, STAR, vol. 104, pp. 121–133 (2014)
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He, L., van den Berg, J.: Meso-scale planning for multi-agent navigation. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2824–2829 (2013)
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Derenick, J., Michael, N., Kumar, V.: Energy-aware coverage control with docking for robot teams. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3667–3672 (2011)
Metadaten
Titel
On Combining Multi-robot Coverage and Reciprocal Collision Avoidance
verfasst von
Andreas Breitenmoser
Alcherio Martinoli
Copyright-Jahr
2016
Verlag
Springer Japan
Buch
Distributed Autonomous Robotic Systems

Print ISBN: 978-4-431-55877-4

Electronic ISBN: 978-4-431-55879-8

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-4-431-55879-8_4

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