Multi-robot Operation System with Conflict Resolution

Applications with large teams of robots are becoming more and more useful. If the scenario is very crowded or very dynamic, conflict resolution when using a shared workspace is a challenging problem. In this paper, an scalable, decentralized and reactive approach for collision avoidance is presented. The robots can navigate in a 2D environment avoiding each other and without high computational requirements. In addition to the conflict resolution algorithm, a multi-robot simulator is presented. The system is flexible and can be used to simulate different algorithms with realistic robots. Finally, an extension of the simulator is proposed in order to operate real robots in a multi-robot testbed. Results of the collision avoidance approach are shown with both real and simulated robots.

[1]  Dinesh Manocha,et al.  Reciprocal n-Body Collision Avoidance , 2011, ISRR.

[2]  J. Ramiro Martinez de Dios,et al.  An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors , 2011, Sensors.

[3]  Moshe Kam,et al.  Mathematical programming for Multi-Vehicle Motion Planning problems , 2012, 2012 IEEE International Conference on Robotics and Automation.

[4]  Aníbal Ollero,et al.  The Velocity Assignment Problem for Conflict Resolution with Multiple Aerial Vehicles Sharing Airspace , 2013, J. Intell. Robotic Syst..

[5]  Antonio Bicchi,et al.  Decentralized Cooperative Policy for Conflict Resolution in Multivehicle Systems , 2007, IEEE Transactions on Robotics.

[6]  Libor Preucil,et al.  European Robotics Symposium 2008 , 2008 .

[7]  Karl Tuyls,et al.  Collision avoidance under bounded localization uncertainty , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Amit Kumar,et al.  Formation Stabilization of Multiple Agents Using Decentralized Navigation Functions , 2005, Robotics: Science and Systems.

[9]  Tamio Arai,et al.  Distributed Autonomous Robotic Systems 3 , 1998 .

[10]  Richard T. Vaughan,et al.  The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems , 2003 .

[11]  Paul A. Beardsley,et al.  Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots , 2010, DARS.

[12]  Dinesh Manocha,et al.  Centralized path planning for multiple robots: Optimal decoupling into sequential plans , 2009, Robotics: Science and Systems.

[13]  Kostas J. Kyriakopoulos,et al.  Decentralized and Prioritized Navigation and Collision Avoidance for Multiple Mobile Robots , 2010, DARS.

[14]  Dimos V. Dimarogonas,et al.  A feedback stabilization and collision avoidance scheme for multiple independent non-point agents, , 2006, Autom..

[15]  Andrey V. Savkin,et al.  Collision free cooperative navigation of multiple wheeled robots in unknown cluttered environments , 2012, Robotics Auton. Syst..

[16]  Srinivas Akella,et al.  Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths , 2005, Int. J. Robotics Res..