Change search
ReferencesLink to record
Permanent link

Direct link
Split and Join of Vehicle Formations doing Obstacle Avoidance
Swedish Defence Research Agency (FOI).ORCID iD: 0000-0002-7714-928X
2004 (English)In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, 1951-1955 p.Conference paper (Refereed)
Abstract [en]

In this paper, we study a scenario where a set of vehicles having different origins and/or destinations move in a common region. The goal is to have the vehicles join and leave formations in a completely decentralized manner. When a vehicle traveling along its own path finds itself moving close to another vehicle it automatically switches into follower mode. The vehicle stays in follower mode as long as the path of the other vehicle is beneficial to it. If, at some point, the leader is not moving towards the destination of the follower, the follower leaves the leader and head of on its own. We address this problem for a group of dynamic unicycle robots. Incorporating the split and join capability into a Receding Horizon Control approach to obstacle avoidance we are able to show safety as well as convergence of all vehicles to their destinations under general nonconvex obstacle assumptions. We illustrate the method with a simulation example

Place, publisher, year, edition, pages
2004. 1951-1955 p.
, IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-58944DOI: 10.1109/ROBOT.2004.1308109ISI: 000221794800315ISBN: 0-7803-8232-3OAI: diva2:474474
IEEE International Conference on Robotics and Automation. New Orleans, LA. APR 26-MAY 01, 2004
QC 20120109Available from: 2012-01-09 Created: 2012-01-09 Last updated: 2012-01-09Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Ögren, Petter
Computer and Information Science

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 17 hits
ReferencesLink to record
Permanent link

Direct link