Print Email Facebook Twitter Decentralized probabilistic multi-robot collision avoidance using buffered uncertainty-aware Voronoi cells Title Decentralized probabilistic multi-robot collision avoidance using buffered uncertainty-aware Voronoi cells Author Zhu, H. (TU Delft Learning & Autonomous Control) Ferreira de Brito, B.F. (TU Delft Learning & Autonomous Control) Alonso-Mora, J. (TU Delft Learning & Autonomous Control) Date 2022 Abstract In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an uncertainty-aware safe region for each robot to navigate among other robots and static obstacles in the environment, under the assumption of Gaussian-distributed uncertainty. In particular, at each time step, we construct a chance-constrained buffered uncertainty-aware Voronoi cell (B-UAVC) for each robot given a specified collision probability threshold. Probabilistic collision avoidance is achieved by constraining the motion of each robot to be within its corresponding B-UAVC, i.e. the collision probability between the robots and obstacles remains below the specified threshold. The proposed approach is decentralized, communication-free, scalable with the number of robots and robust to robots’ localization and sensing uncertainties. We applied the approach to single-integrator, double-integrator, differential-drive robots, and robots with general nonlinear dynamics. Extensive simulations and experiments with a team of ground vehicles, quadrotors, and heterogeneous robot teams are performed to analyze and validate the proposed approach. Subject Collision avoidanceMotion planningMulti-robot systemsPlanning under uncertainty To reference this document use: http://resolver.tudelft.nl/uuid:cc399a99-b7d3-4a65-a137-c5d6de4fe65f DOI https://doi.org/10.1007/s10514-021-10029-2 Embargo date 2022-07-26 ISSN 0929-5593 Source Autonomous Robots, 46 (2), 401-420 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 H. Zhu, B.F. Ferreira de Brito, J. Alonso-Mora Files PDF Zhu2022_Article_Decentral ... icMult.pdf 2.77 MB Close viewer /islandora/object/uuid:cc399a99-b7d3-4a65-a137-c5d6de4fe65f/datastream/OBJ/view