Searched for: subject%3A%22collision%22
(1 - 8 of 8)
document
Chen, Gang (author), Dong, Wei (author), Peng, Peng (author), Alonso-Mora, J. (author), Zhu, Xiangyang (author)
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem, wherein a large grid size is unfavorable for motion planning while a small grid size lowers efficiency and...
journal article 2023
document
Cheng, Gang (author), Wu, S. (author), Shi, M. (author), Dong, W. (author), Zhu, H. (author), Alonso-Mora, J. (author)
Autonomous navigation of Micro Aerial Vehicles (MAVs) in dynamic and unknown environments is a complex and challenging task. Current works rely on assumptions to solve the problem. The MAV's pose is precisely known, the dynamic obstacles can be explicitly segmented from static ones, their number is known and fixed, or they can be modeled with...
journal article 2023
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Serra Gomez, A. (author), Zhu, H. (author), Ferreira de Brito, B.F. (author), Böhmer, J.W. (author), Alonso-Mora, J. (author)
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions to avoid collisions. However, the risk of collision between robots varies as they move and communication may not always be needed. This paper presents an efficient communication method that addresses the problem of “when...
journal article 2023
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Zhu, H. (author)
Planning safe motions for multi-robot systems is crucial for deploying them in real-world applications such as target tracking, environmental monitoring, and multi-view cinematography. Traditional approaches mainly solve the multi-robot motion planning problem in a deterministic manner, where the robot states and system models are perfectly...
doctoral thesis 2022
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Zhu, H. (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)
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...
journal article 2022
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Zhu, H. (author), Martinez Claramunt, Francisco (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots to achieve predictive collision avoidance. These motion predictions can be obtained among robots by...
journal article 2021
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Zhu, H. (author), Alonso-Mora, J. (author)
Safe autonomous navigation of microair vehicles in cluttered dynamic environments is challenging due to the uncertainties arising from robot localization, sensing, and motion disturbances. This letter presents a probabilistic collision avoidance method for navigation among other robots and moving obstacles, such as humans. The approach...
journal article 2019
document
Zhu, J. (author)
The thesis contributes to the pre-collision strategies of robot manipulators by proposing a real-time implementable collision avoidance scheme. The collision is avoided by a braking controller that is activated by a braking trajectory predictor. The predictor provides distances of the end-effector to the object/human in the environment and...
master thesis 2015
Searched for: subject%3A%22collision%22
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