Distributed multi-robot formation splitting and merging in dynamic environments

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 Citations (Scopus)

Abstract

This paper presents a distributed method for splitting and merging of multi-robot formations in dynamic environments with static and moving obstacles. Splitting and merging actions rely on distributed consensus and can be performed to avoid obstacles. Our method accounts for the limited communication range and visibility radius of the robots and relies on the communication of obstacle-free convex regions and the computation of an intersection graph. In addition, our method is able to detect and recover from (permanent and temporary) communication and motion faults. Finally, we demonstrate the applicability and scalability of the proposed method in simulations with up to sixteen quadrotors and real-world experiments with a team of four quadrotors.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages9080-9086
Volume2019-May
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19

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