Fast Reciprocal Collision Avoidance Under Measurement Uncertainty

@inproceedings{Angeris2019FastRC,
  title={Fast Reciprocal Collision Avoidance Under Measurement Uncertainty},
  author={Guillermo A. Angeris and Kunal Shah and Mac Schwager},
  year={2019}
}
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors with no inter-agent communication. Under some mild conditions, we provide guarantees on mutual collision avoidance for a broad class of policies including the one presented. Additionally, we provide numerical examples of computational performance and show that… CONTINUE READING

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