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International Symposium on Experimental Robotics

ISER 2016: 2016 International Symposium on Experimental Robotics pp 586–598Cite as

Safe Navigation of Quadrotor Teams to Labeled Goals in Limited Workspaces

Part of the Springer Proceedings in Advanced Robotics book series (SPAR,volume 1)

Abstract

In this work, we solve the labeled multi-robot planning problem. Most proposed algorithms to date have modeled robots as kinematic or kinodynamic agents in planar environments, making them impractical for real-world systems. Here, we present experiments to validate a centralized multi-robot planning and trajectory generation method that explicitly accounts for robots with higher-order dynamics. First, we demonstrate successful execution of solution trajectories. Next, we verify the robustness of the robots’ trajectory tracking to unmodeled external disturbances, in particular, the aerodynamic interactions between co-planar neighbors. Finally, we apply our algorithm to navigating quadrotors away from the downwash of their neighbors to improve safety in three-dimensional workspaces.

Keywords

  • Aerial robotics
  • Trajectory generation
  • Multi-robot planning

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  • DOI: 10.1007/978-3-319-50115-4_51
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    http://www.asctec.de/en/.

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    http://www.vicon.com/.

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Acknowledgments

We gratefully acknowledge the support of ONR grants N00014-09-1-1051 and N00014-09-1-103, ARL grant W911NF-08-2-0004, ARO grant W911NF-13-1-0350, and Exyn Technologies. Sarah Tang is supported by NSF Research Fellowship Grant No. DGE-1321851.

Author information

Authors and Affiliations

  1. GRASP Laboratory, University of Pennsylvania, Philadelphia, Pennsylvania, 19104, USA

    Sarah Tang, Justin Thomas & Vijay Kumar

Authors
  1. Sarah Tang
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  2. Justin Thomas
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  3. Vijay Kumar
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Corresponding author

Correspondence to Sarah Tang .

Editor information

Editors and Affiliations

  1. Gra Sch of Info Sci&Tech,Dept of MechInf, The University of Tokyo Gra Sch of Info Sci&Tech,Dept of MechInf, Tokyo, Japan

    Dana Kulić

  2. Computer Science Department, Stanford University Computer Science Department, Stanford, California, USA

    Yoshihiko Nakamura

  3. Department of Electrical & Computer Engg, University of Waterloo Department of Electrical & Computer Engg, Waterloo, Ontario, Canada

    Oussama Khatib

  4. Department of Mechanical Systems Enginee, Tokyo University of Agriculture and Tech Department of Mechanical Systems Enginee, Tokyo, Japan

    Gentiane Venture

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Tang, S., Thomas, J., Kumar, V. (2017). Safe Navigation of Quadrotor Teams to Labeled Goals in Limited Workspaces. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_51

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  • DOI: https://doi.org/10.1007/978-3-319-50115-4_51

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  • Publisher Name: Springer, Cham

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