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Robust cooperative navigation of multiple wheeled robots in unknown cluttered environments. / Hoy, Michael; Matveev, Alexey S.; Savkin, Andrey V.

2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. стр. 650-655 5983067 (2011 19th Mediterranean Conference on Control and Automation, MED 2011).

Результаты исследований: Публикации в книгах, отчётах, сборниках, трудах конференций › статья в сборнике материалов конференции › научная › Рецензирование

Harvard

Hoy, M, Matveev, AS & Savkin, AV 2011, Robust cooperative navigation of multiple wheeled robots in unknown cluttered environments. в 2011 19th Mediterranean Conference on Control and Automation, MED 2011., 5983067, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, стр. 650-655, 19th Mediterranean Conference on Control and Automation, Corfu, Греция, 20/06/11. https://doi.org/10.1109/MED.2011.5983067

APA

Hoy, M., Matveev, A. S., & Savkin, A. V. (2011). Robust cooperative navigation of multiple wheeled robots in unknown cluttered environments. в 2011 19th Mediterranean Conference on Control and Automation, MED 2011 (стр. 650-655). [5983067] (2011 19th Mediterranean Conference on Control and Automation, MED 2011). https://doi.org/10.1109/MED.2011.5983067

Vancouver

Hoy M, Matveev AS, Savkin AV. Robust cooperative navigation of multiple wheeled robots in unknown cluttered environments. в 2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. стр. 650-655. 5983067. (2011 19th Mediterranean Conference on Control and Automation, MED 2011). https://doi.org/10.1109/MED.2011.5983067

Author

Hoy, Michael ; Matveev, Alexey S. ; Savkin, Andrey V. / Robust cooperative navigation of multiple wheeled robots in unknown cluttered environments. 2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. стр. 650-655 (2011 19th Mediterranean Conference on Control and Automation, MED 2011).

BibTeX

@inproceedings{a7fc75a6ca114aeb98a1f2870afba82b,
title = "Robust cooperative navigation of multiple wheeled robots in unknown cluttered environments",
abstract = "When employing autonomous wheeled robots, it is desirable to use navigation approaches which can always prevent collisions. In this paper we consider the problem of navigating multiple vehicles through an unknown static environment with limited sensing and communication capability available. We propose a decentralized, cooperative, reactive, model predictive control based collision avoidance scheme, and show it is able to prevent collisions from occurring. An axillary controller is employed to follow previously planned paths when the main path planning system fails to find a path. Simulations in various scenarios confirm the methods validity.",
keywords = "Cooperative Collision Avoidance, Path Planning, Robot Navigation, Robust Model Predictive Control",
author = "Michael Hoy and Matveev, {Alexey S.} and Savkin, {Andrey V.}",
year = "2011",
month = sep,
day = "8",
doi = "10.1109/MED.2011.5983067",
language = "English",
isbn = "9781457701252",
series = "2011 19th Mediterranean Conference on Control and Automation, MED 2011",
pages = "650--655",
booktitle = "2011 19th Mediterranean Conference on Control and Automation, MED 2011",
note = "19th Mediterranean Conference on Control and Automation, MED 2011 ; Conference date: 20-06-2011 Through 23-06-2011",

}

RIS

TY - GEN

T1 - Robust cooperative navigation of multiple wheeled robots in unknown cluttered environments

AU - Hoy, Michael

AU - Matveev, Alexey S.

AU - Savkin, Andrey V.

PY - 2011/9/8

Y1 - 2011/9/8

N2 - When employing autonomous wheeled robots, it is desirable to use navigation approaches which can always prevent collisions. In this paper we consider the problem of navigating multiple vehicles through an unknown static environment with limited sensing and communication capability available. We propose a decentralized, cooperative, reactive, model predictive control based collision avoidance scheme, and show it is able to prevent collisions from occurring. An axillary controller is employed to follow previously planned paths when the main path planning system fails to find a path. Simulations in various scenarios confirm the methods validity.

AB - When employing autonomous wheeled robots, it is desirable to use navigation approaches which can always prevent collisions. In this paper we consider the problem of navigating multiple vehicles through an unknown static environment with limited sensing and communication capability available. We propose a decentralized, cooperative, reactive, model predictive control based collision avoidance scheme, and show it is able to prevent collisions from occurring. An axillary controller is employed to follow previously planned paths when the main path planning system fails to find a path. Simulations in various scenarios confirm the methods validity.

KW - Cooperative Collision Avoidance

KW - Path Planning

KW - Robot Navigation

KW - Robust Model Predictive Control

UR - http://www.scopus.com/inward/record.url?scp=80052373750&partnerID=8YFLogxK

U2 - 10.1109/MED.2011.5983067

DO - 10.1109/MED.2011.5983067

M3 - Conference contribution

AN - SCOPUS:80052373750

SN - 9781457701252

T3 - 2011 19th Mediterranean Conference on Control and Automation, MED 2011

SP - 650

EP - 655

BT - 2011 19th Mediterranean Conference on Control and Automation, MED 2011

T2 - 19th Mediterranean Conference on Control and Automation

Y2 - 20 June 2011 through 23 June 2011

ER -

ID: 50905905