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B-UAVC

Buffered Uncertainty-Aware Voronoi Cells for probabilistic multi-robot collision avoidance

Conference paper (2019)

Authors

H. Zhu Learning & Autonomous Control
J. Alonso-Mora Learning & Autonomous Control
Research Group
Learning & Autonomous Control
Copyright: © 2019 H. Zhu, J. Alonso-Mora
DOI: https://doi.org/10.1109/MRS.2019.8901092
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Published Date

2019

Language

English

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Research Group

Learning & Autonomous Control

Abstract

This paper presents B-UAVC, a distributed collision avoidance method for multi-robot systems that accounts for uncertainties in robot localization. In particular, Buffered Uncertainty-Aware Voronoi Cells (B-UAVC) are employed to compute regions where the robots can safely navigate. By computing a set of chance constraints, which guarantee that the robot remains within its B-UAVC, the method can be applied to non-holonomic robots. A local trajectory for each robot is then computed by introducing these chance constraints in a receding horizon model predictive controller. The method guarantees, under the assumption of normally distributed position uncertainty, that the collision probability between the robots remains below a specified threshold. We evaluate the proposed method with a team of quadrotors in simulations and in real experiments.

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