Multi-robot formation control and object transport in dynamic environments via constrained optimization

Multi-robot formation control and object transport in dynamic environments via constrained optimization

Alonso-Mora, J. (TU Delft Learning & Autonomous Control)
Baker, Stuart (Massachusetts Institute of Technology)
Rus, Daniela (Massachusetts Institute of Technology)

2017

We present a constrained optimization method for multi-robot formation control in dynamic environments, where the robots adjust the parameters of the formation, such as size and three-dimensional orientation, to avoid collisions with static and moving obstacles, and to make progress towards their goal. We describe two variants of the algorithm, one for local motion planning and one for global path planning. The local planner first computes a large obstacle-free convex region in a neighborhood of the robots, embedded in position-time space. Then, the parameters of the formation are optimized therein by solving a constrained optimization, via sequential convex programming. The robots navigate towards the optimized formation with individual controllers that account for their dynamics. The idea is extended to global path planning by sampling convex regions in free position space and connecting them if a transition in formation is possible - computed via the constrained optimization. The path of lowest cost to the goal is then found via graph search. The method applies to ground and aerial vehicles navigating in two- and three-dimensional environments among static and dynamic obstacles, allows for reconfiguration, and is efficient and scalable with the number of robots. In particular, we consider two applications, a team of aerial vehicles navigating in formation, and a small team of mobile manipulators that collaboratively carry an object. The approach is verified in experiments with a team of three mobile manipulators and in simulations with a team of up to sixteen Micro Air Vehicles (quadrotors).

collaborative mobile manipulators
collaborative object transport
constrained optimization
formation control
micro air vehicles
motion planning
Multi-robot systems
sequential convex programming
team of aerial vehicles

http://resolver.tudelft.nl/uuid:62459ea4-3d45-47a1-85e3-4404d024f38b

https://doi.org/10.1177/0278364917719333

0278-3649

The International Journal of Robotics Research, 36 (9), 1000-1021

Institutional Repository

journal article

© 2017 J. Alonso-Mora, Stuart Baker, Daniela Rus