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Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 83))

Abstract

In this paper an optimalmethod for distributed collision avoidance among multiple non-holonomic robots is presented in theory and experiments. Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in [2], but further guarantees smooth and collision-free motions under non-holonomic constraints. Optimal control inputs and constraints in velocity space are formally derived for the non-holonomic robots. The theoretical results are validated in several collision avoidance experiments with up to fourteen e-puck robots set on collision course. Even in scenarios with very crowded situations, NH-ORCA showed to be collision-free for all times.

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Author information

Authors and Affiliations

  1. Autonomous Systems Laboratory (ASL), ETH Zurich, Tannenstrasse 3, 8092, Zurich, Switzerland

    Javier Alonso-Mora, Andreas Breitenmoser, Martin Rufli & Roland Siegwart

  2. Disney Research Zurich, Clausiusstrasse 49, 8092, Zurich, Switzerland

    Javier Alonso-Mora & Paul Beardsley

Authors
  1. Javier Alonso-Mora
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  2. Andreas Breitenmoser
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  3. Martin Rufli
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  4. Paul Beardsley
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  5. Roland Siegwart
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Corresponding author

Correspondence to Javier Alonso-Mora .

Editor information

Editors and Affiliations

  1. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Alcherio Martinoli

  2. EPFL STI IMT LSRO, Station 9, Lausanne, 1015, Switzerland

    Francesco Mondada

  3. 430 UCB, Engineering Drive 1111, Boulder, 80309, Colorado, USA

    Nikolaus Correll

  4. EPFL ENAC IIE DISAL, Station 2, Lausanne, 1015, Switzerland

    Grégory Mermoud

  5. , Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, 30332, Georgia, USA

    Magnus Egerstedt

  6. , Mechanical Engineering & Mechanics, Drexel University, Randell 115, Chestnut St. 3141, Philadelphia, 19104, Pennsylvania, USA

    M. Ani Hsieh

  7. , Department of Electrical Engineering and, University of Tennessee, Middle Drive 1520, Knoxville, 37996, Tennessee, USA

    Lynne E. Parker

  8. Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Campusvej 55, Odense, 5230, Denmark

    Kasper Støy

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Alonso-Mora, J., Breitenmoser, A., Rufli, M., Beardsley, P., Siegwart, R. (2013). Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots. In: Martinoli, A., et al. Distributed Autonomous Robotic Systems. Springer Tracts in Advanced Robotics, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32723-0_15

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  • DOI: https://doi.org/10.1007/978-3-642-32723-0_15

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32722-3

  • Online ISBN: 978-3-642-32723-0

  • eBook Packages: EngineeringEngineering (R0)

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