Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive  control

Mina Kamel; Javier Alonso-Mora; Roland Siegwart; Juan Nieto

doi:10.1109/IROS.2017.8202163

Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control

Mina Kamel, Javier Alonso-Mora, Roland Siegwart, Juan Nieto

Learning & Autonomous Control

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

69 Citations (Scopus)

334 Downloads (Pure)

Abstract

When several Multirotor Micro Aerial Vehicles (MAVs) share the same airspace, reliable and robust collision avoidance is required. In this paper we address the problem of multi-MAV reactive collision avoidance. We employ a model-based controller to simultaneously track a reference trajectory and avoid collisions. Moreover, to achieve a higher degree of robustness, our method also accounts for the uncertainty of the state estimator and of the position and velocity of the other agents. The proposed approach is decentralized, does not require a collision-free reference trajectory and accounts for the full MAV dynamics. We validated our approach in simulation and experimentally with two MAV.

Original language	English
Title of host publication	Proceedings 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Editors	A Bicchi, T Maciejewski
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	236-243
ISBN (Print)	978-1-5386-2682-5
DOIs	https://doi.org/10.1109/IROS.2017.8202163
Publication status	Published - 2017
Event	IROS 2017: IEEE/RSJ International Conference on Intelligent Robots and Systems - Vancouver, Canada Duration: 24 Sept 2017 → 28 Sept 2017 http://www.iros2017.org/

Conference

Conference	IROS 2017: IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Canada
City	Vancouver
Period	24/09/17 → 28/09/17
Internet address	http://www.iros2017.org/

Bibliographical note

Accepted Author Manuscript

Keywords

Collision avoidance
Trajectory
Cost function
Trajectory tracking
Robustness
Vehicle dynamics

Access to Document

10.1109/IROS.2017.8202163

iros2017_kamelAccepted author manuscript, 1.95 MB

Cite this

@inproceedings{1d6d2497a76b42e08b1588a1df89a0a4,

title = "Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control",

abstract = "When several Multirotor Micro Aerial Vehicles (MAVs) share the same airspace, reliable and robust collision avoidance is required. In this paper we address the problem of multi-MAV reactive collision avoidance. We employ a model-based controller to simultaneously track a reference trajectory and avoid collisions. Moreover, to achieve a higher degree of robustness, our method also accounts for the uncertainty of the state estimator and of the position and velocity of the other agents. The proposed approach is decentralized, does not require a collision-free reference trajectory and accounts for the full MAV dynamics. We validated our approach in simulation and experimentally with two MAV.",

keywords = "Collision avoidance, Trajectory, Cost function, Trajectory tracking, Robustness, Vehicle dynamics",

author = "Mina Kamel and Javier Alonso-Mora and Roland Siegwart and Juan Nieto",

note = "Accepted Author Manuscript; IROS 2017: IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 24-09-2017 Through 28-09-2017",

year = "2017",

doi = "10.1109/IROS.2017.8202163",

language = "English",

isbn = "978-1-5386-2682-5",

pages = "236--243",

editor = "Bicchi, {A } and { Maciejewski}, {T }",

booktitle = "Proceedings 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

publisher = "IEEE",

address = "United States",

url = "http://www.iros2017.org/",

}

Kamel, M, Alonso-Mora, J, Siegwart, R & Nieto, J 2017, Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control. in A Bicchi & T Maciejewski (eds), Proceedings 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, Piscataway, NJ, USA, pp. 236-243, IROS 2017: IEEE/RSJ International Conference on Intelligent Robots and Systems , Vancouver, Canada, 24/09/17. https://doi.org/10.1109/IROS.2017.8202163

Robust collision avoidance for multiple micro aerial vehicles using nonlinear model predictive control. / Kamel, Mina; Alonso-Mora, Javier; Siegwart, Roland et al.
Proceedings 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). ed. / A Bicchi; T Maciejewski. Piscataway, NJ, USA: IEEE, 2017. p. 236-243.

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

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