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.
|Title of host publication||Proceedings 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019)|
|Place of Publication||Piscataway, NJ, USA|
|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||2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019|
|Period||22/08/19 → 23/08/19|