Multi-robot formation control and object transport in dynamic environments via constrained optimization

@article{AlonsoMora2017MultirobotFC,
  title={Multi-robot formation control and object transport in dynamic environments via constrained optimization},
  author={Javier Alonso-Mora and Stuart Baker and Daniela Rus},
  journal={I. J. Robotics Res.},
  year={2017},
  volume={36},
  pages={1000-1021}
}
We present a constrained optimization method for multi-robot formation control in dynamic environments, where the robots adjust the parameters of the formation, such as size and three-dimensional orientation, to avoid collisions with static and moving obstacles, and to make progress towards their goal. We describe two variants of the algorithm, one for… CONTINUE READING