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

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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 languageEnglish
Title of host publicationProceedings 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019)
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages162-168
ISBN (Electronic)978-1-7281-2876-4
DOIs
Publication statusPublished - 2019
Event2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 - New Brunswick, United States
Duration: 22 Aug 201923 Aug 2019

Conference

Conference2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
CountryUnited States
CityNew Brunswick
Period22/08/1923/08/19

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  • Cite this

    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) (pp. 162-168). IEEE. https://doi.org/10.1109/MRS.2019.8901092