Decentralized coordinated motion for a large team of robots preserving connectivity and avoiding collisions

@article{Li2017DecentralizedCM,
  title={Decentralized coordinated motion for a large team of robots preserving connectivity and avoiding collisions},
  author={Anqi Li and Wenhao Luo and Sasanka Nagavalli and Katia P. Sycara},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={1505-1511}
}
We consider the general problem of moving a large number of networked robots toward a goal position through a cluttered environment while preserving network communication connectivity and avoiding both inter-robot collisions and collision with obstacles. In contrast to previous approaches that either plan complete paths for each individual robot in the high-dimensional joint configuration space or control the robot group as a whole with explicit constraints on the group's boundary and inter… CONTINUE READING

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