English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This work presents a distributed method for multi-robot coordination based onnonlinear model predictive control (NMPC) and dual decomposition. Our approachallows the robots to coordinate in tight spaces (e.g., highway lanes, parkinglots, warehouses, canals, etc.) by using a polytopic description of eachrobot's shape and formulating the collision avoidance as a dual optimizationproblem. Our method accommodates heterogeneous teams of robots (i.e., robotswith different polytopic shapes and dynamic models can be part of the sameteam) and can be used to avoid collisions in $n$-dimensional spaces. Startingfrom a centralized implementation of the NMPC problem, we show how to exploitthe problem structure to allow the robots to cooperate (while communicatingtheir intentions to the neighbors) and compute collision-free paths in adistributed way in real time. By relying on a bi-level optimization scheme, ourdesign decouples the optimization of the robot states and of thecollision-avoidance variables to create real time coordination strategies.Finally, we apply our method for the autonomous navigation of a platoon ofconnected vehicles on a simulation setting. We compare our design with thecentralized NMPC design to show the computational benefits of the proposeddistributed algorithm. In addition, we demonstrate our method for coordinationof a heterogeneous team of robots (with different polytopic shapes).

A Distributed Multi-Robot Coordination Algorithm for Navigation in Tight Environments