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Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots
TLDR
Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non- holonomic constraints.
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Reciprocal collision avoidance for multiple car-like robots
TLDR
The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collisions avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like vehicles.
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Voronoi coverage of non-convex environments with a group of networked robots
TLDR
This paper presents a solution to decentralized Voronoi coverage in non-convex polygonal environments with an algorithm that is guaranteed to converge to a local optimum and proves convergence and optimality.
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Noise characterization of depth sensors for surface inspections
In the context of environment reconstruction for inspection, it is important to handle sensor noise properly to avoid distorted representations. A short survey of available sensors is realize to help…
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Multi-robot system for artistic pattern formation
TLDR
These Arbitrary target patterns are represented with an optimal robot deployment, using a method that is independent of the number of robots, and are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence.
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Distributed Coverage Control on Surfaces in 3D Space
TLDR
Two distributed coverage control algorithms are presented that both provide a solution to the problem of deploying a group of networked robots on a non-planar surface embedded in 3D space by discrete coverage of a graph.
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A monocular vision-based system for 6D relative robot localization
The objective of this paper is the full 6D relative localization of mobile devices, and direct robot-robot localization in particular. We present a novel relative localization system that consists of…
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Image and animation display with multiple mobile robots
TLDR
This work describes a display in which each pixel is a mobile robot of controllable color, and their positioning and motion are used to produce a novel experience.
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Surface reconstruction and path planning for industrial inspection with a climbing robot
TLDR
This paper addresses the problem of navigating robotic devices, namely a wheeled climbing robot carrying an inspection tool, on surfaces as they typically appear in steam chests of power plants, modeled by triangle meshes.
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On Combining Multi-robot Coverage and Reciprocal Collision Avoidance
TLDR
A taxonomy of collision scenarios in multi-robot coverage problems is presented and coverage tasks with built-in heterogeneity such as multiple antagonistic objectives or robot constraints are shown to benefit from the combination of Voronoi coverage and reciprocal velocity obstacles.
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