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Obstacle avoidance in formation using navigation-like functions and constraint based programming
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (CVAP)ORCID iD: 0000-0003-0289-7424
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-7309-8086
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-7714-928X
2013 (English)In: Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ, IEEE conference proceedings, 2013, 5234-5239 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we combine navigation functionlike potential fields and constraint based programming to achieve obstacle avoidance in formation. Constraint based programming was developed in robotic manipulation as a technique to take several constraints into account when controlling redundant manipulators. The approach has also been generalized, and applied to other control systems such as dual arm manipulators and unmanned aerial vehicles. Navigation functions are an elegant way to design controllers with provable properties for navigation problems. By combining these tools, we take advantage of the redundancy inherent in a multi-agent control problem and are able to concurrently address features such as formation maintenance and goal convergence, even in the presence of moving obstacles. We show how the user can decide a priority ordering of the objectives, as well as a clear way of seeing what objectives are currently addressed and what are postponed. We also analyze the theoretical properties of the proposed controller. Finally, we use a set of simulations to illustrate the approach.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 5234-5239 p.
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Keyword [en]
Constraint-based, Design controllers, Formation maintenances, Multiagent control, Navigation functions, Navigation problem, Provable properties, Robotic manipulation
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-139106DOI: 10.1109/IROS.2013.6697113ISI: 000331367405045Scopus ID: 2-s2.0-84893800843ISBN: 978-146736358-7 (print)OAI: oai:DiVA.org:kth-139106DiVA: diva2:683991
Conference
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
Note

QC 20140110

Available from: 2014-01-07 Created: 2014-01-07 Last updated: 2014-04-10Bibliographically approved

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Dimarogonas, DimosÖgren, Petter

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