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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, Published 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.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-58944DOI: 10.1109/ROBOT.2004.1308109ISI: 000221794800315ISBN: 0-7803-8232-3 (print)OAI: oai:DiVA.org:kth-58944DiVA: diva2:474474
Conference
IEEE International Conference on Robotics and Automation. New Orleans, LA. APR 26-MAY 01, 2004
Note
QC 20120109Available from: 2012-01-09 Created: 2012-01-09 Last updated: 2012-01-09Bibliographically approved

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Ögren, Petter

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  • apa
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  • de-DE
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  • nn-NO
  • nn-NB
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  • Other locale
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