B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for probabilistic multi-robot collision avoidance

Hai Zhu; Javier Alonso-Mora

doi:10.1109/MRS.2019.8901092

B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for probabilistic multi-robot collision avoidance

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

31 Citations (Scopus)

207 Downloads (Pure)

Abstract

This paper presents B-UAVC, a distributed collision avoidance method for multi-robot systems that accounts for uncertainties in robot localization. In particular, Buffered Uncertainty-Aware Voronoi Cells (B-UAVC) are employed to compute regions where the robots can safely navigate. By computing a set of chance constraints, which guarantee that the robot remains within its B-UAVC, the method can be applied to non-holonomic robots. A local trajectory for each robot is then computed by introducing these chance constraints in a receding horizon model predictive controller. The method guarantees, under the assumption of normally distributed position uncertainty, that the collision probability between the robots remains below a specified threshold. We evaluate the proposed method with a team of quadrotors in simulations and in real experiments.

Original language	English
Title of host publication	Proceedings 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019)
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	162-168
ISBN (Electronic)	978-1-7281-2876-4
DOIs	https://doi.org/10.1109/MRS.2019.8901092
Publication status	Published - 2019
Event	2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 - New Brunswick, United States Duration: 22 Aug 2019 → 23 Aug 2019

Conference

Conference	2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
Country/Territory	United States
City	New Brunswick
Period	22/08/19 → 23/08/19

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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title = "B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for probabilistic multi-robot collision avoidance",

abstract = "This paper presents B-UAVC, a distributed collision avoidance method for multi-robot systems that accounts for uncertainties in robot localization. In particular, Buffered Uncertainty-Aware Voronoi Cells (B-UAVC) are employed to compute regions where the robots can safely navigate. By computing a set of chance constraints, which guarantee that the robot remains within its B-UAVC, the method can be applied to non-holonomic robots. A local trajectory for each robot is then computed by introducing these chance constraints in a receding horizon model predictive controller. The method guarantees, under the assumption of normally distributed position uncertainty, that the collision probability between the robots remains below a specified threshold. We evaluate the proposed method with a team of quadrotors in simulations and in real experiments.",

author = "Hai Zhu and Javier Alonso-Mora",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 ; Conference date: 22-08-2019 Through 23-08-2019",

year = "2019",

doi = "10.1109/MRS.2019.8901092",

language = "English",

pages = "162--168",

booktitle = "Proceedings 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019)",

publisher = "IEEE",

address = "United States",

}

Zhu, H & Alonso-Mora, J 2019, B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for probabilistic multi-robot collision avoidance. in Proceedings 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019). IEEE, Piscataway, NJ, USA, pp. 162-168, 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019, New Brunswick, United States, 22/08/19. https://doi.org/10.1109/MRS.2019.8901092

B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for probabilistic multi-robot collision avoidance. / Zhu, Hai; Alonso-Mora, Javier.
Proceedings 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019). Piscataway, NJ, USA: IEEE, 2019. p. 162-168.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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AB - This paper presents B-UAVC, a distributed collision avoidance method for multi-robot systems that accounts for uncertainties in robot localization. In particular, Buffered Uncertainty-Aware Voronoi Cells (B-UAVC) are employed to compute regions where the robots can safely navigate. By computing a set of chance constraints, which guarantee that the robot remains within its B-UAVC, the method can be applied to non-holonomic robots. A local trajectory for each robot is then computed by introducing these chance constraints in a receding horizon model predictive controller. The method guarantees, under the assumption of normally distributed position uncertainty, that the collision probability between the robots remains below a specified threshold. We evaluate the proposed method with a team of quadrotors in simulations and in real experiments.

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B-UAVC: Buffered Uncertainty-Aware Voronoi Cells for probabilistic multi-robot collision avoidance

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