TY - JOUR
T1 - Multi-robot formation control and object transport in dynamic environments via constrained optimization
AU - Alonso-Mora, Javier
AU - Baker, Stuart
AU - Rus, Daniela
PY - 2017
Y1 - 2017
N2 - We present a constrained optimization method for multi-robot formation control in dynamic environments, where the robots adjust the parameters of the formation, such as size and three-dimensional orientation, to avoid collisions with static and moving obstacles, and to make progress towards their goal. We describe two variants of the algorithm, one for local motion planning and one for global path planning. The local planner first computes a large obstacle-free convex region in a neighborhood of the robots, embedded in position-time space. Then, the parameters of the formation are optimized therein by solving a constrained optimization, via sequential convex programming. The robots navigate towards the optimized formation with individual controllers that account for their dynamics. The idea is extended to global path planning by sampling convex regions in free position space and connecting them if a transition in formation is possible - computed via the constrained optimization. The path of lowest cost to the goal is then found via graph search. The method applies to ground and aerial vehicles navigating in two- and three-dimensional environments among static and dynamic obstacles, allows for reconfiguration, and is efficient and scalable with the number of robots. In particular, we consider two applications, a team of aerial vehicles navigating in formation, and a small team of mobile manipulators that collaboratively carry an object. The approach is verified in experiments with a team of three mobile manipulators and in simulations with a team of up to sixteen Micro Air Vehicles (quadrotors).
AB - We present a constrained optimization method for multi-robot formation control in dynamic environments, where the robots adjust the parameters of the formation, such as size and three-dimensional orientation, to avoid collisions with static and moving obstacles, and to make progress towards their goal. We describe two variants of the algorithm, one for local motion planning and one for global path planning. The local planner first computes a large obstacle-free convex region in a neighborhood of the robots, embedded in position-time space. Then, the parameters of the formation are optimized therein by solving a constrained optimization, via sequential convex programming. The robots navigate towards the optimized formation with individual controllers that account for their dynamics. The idea is extended to global path planning by sampling convex regions in free position space and connecting them if a transition in formation is possible - computed via the constrained optimization. The path of lowest cost to the goal is then found via graph search. The method applies to ground and aerial vehicles navigating in two- and three-dimensional environments among static and dynamic obstacles, allows for reconfiguration, and is efficient and scalable with the number of robots. In particular, we consider two applications, a team of aerial vehicles navigating in formation, and a small team of mobile manipulators that collaboratively carry an object. The approach is verified in experiments with a team of three mobile manipulators and in simulations with a team of up to sixteen Micro Air Vehicles (quadrotors).
KW - collaborative mobile manipulators
KW - collaborative object transport
KW - constrained optimization
KW - formation control
KW - micro air vehicles
KW - motion planning
KW - Multi-robot systems
KW - sequential convex programming
KW - team of aerial vehicles
UR - http://resolver.tudelft.nl/uuid:62459ea4-3d45-47a1-85e3-4404d024f38b
UR - http://www.scopus.com/inward/record.url?scp=85027418220&partnerID=8YFLogxK
U2 - 10.1177/0278364917719333
DO - 10.1177/0278364917719333
M3 - Article
AN - SCOPUS:85027418220
SN - 0278-3649
VL - 36
SP - 1000
EP - 1021
JO - The International Journal of Robotics Research
JF - The International Journal of Robotics Research
IS - 9
ER -