Trajectory Planning for Heterogeneous Robot Teams

@article{Debord2018TrajectoryPF,
  title={Trajectory Planning for Heterogeneous Robot Teams},
  author={Mark Debord and Wolfgang H{\"o}nig and Nora Ayanian},
  journal={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2018},
  pages={7924-7931}
}
We describe a trajectory planning method for heterogeneous mobile robot teams in known environments. We consider two core problems that arise with heterogeneous robot teams: asymmetric inter-robot collision constraints and varying dynamic limits. Asymmetric collision constraints are important for close-proximity flight of rotorcraft due to the downwash effect, which complicates spatial coordination. Varying dynamic limits complicate temporal coordination between robots and must be taken into… CONTINUE READING

Similar Papers

References

Publications referenced by this paper.
SHOWING 1-10 OF 18 REFERENCES

Planning for a ground-air robotic system with collaborative localization

  • 2016 IEEE International Conference on Robotics and Automation (ICRA)
  • 2016
VIEW 10 EXCERPTS
HIGHLY INFLUENTIAL

Crazyswarm: A large nano-quadcopter swarm

  • 2017 IEEE International Conference on Robotics and Automation (ICRA)
  • 2017
VIEW 2 EXCERPTS
HIGHLY INFLUENTIAL

Downwashaware trajectory planning for large quadrotor teams

J. A. Preiss, W. Hönig, G. S. Sukhatme, N. Ayanian
  • IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 250–257.
  • 2017
VIEW 1 EXCERPT

Multi-robot path planning for a swarm of robots that can both fly and drive

  • 2017 IEEE International Conference on Robotics and Automation (ICRA)
  • 2017
VIEW 1 EXCERPT