Dream: Decentralized real-time asynchronous probabilistic trajectory planning for collision-free multi-robot navigation in cluttered environments
B Şenbaşlar, GS Sukhatme - arXiv preprint arXiv:2307.15887, 2023 - arxiv.org
Collision-free navigation in cluttered environments with static and dynamic obstacles is
essential for many multi-robot tasks. Dynamic obstacles may also be interactive, ie, their …
essential for many multi-robot tasks. Dynamic obstacles may also be interactive, ie, their …
[PDF][PDF] Decentralized multi-robot social navigation in constrained environments via game-theoretic control barrier functions
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-
robot systems operating in constrained environments, including doorways and intersections …
robot systems operating in constrained environments, including doorways and intersections …
Mrnav: Multi-robot aware planning and control stack for collision and deadlock-free navigation in cluttered environments
Multi-robot collision-free and deadlock-free navigation in cluttered environments with static
and dynamic obstacles is a fundamental problem for many applications. We introduce …
and dynamic obstacles is a fundamental problem for many applications. We introduce …
Collision avoidance and navigation for a quadrotor swarm using end-to-end deep reinforcement learning
End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits–
easy deployment, task generalization and real-time execution capability. Prior end-to-end …
easy deployment, task generalization and real-time execution capability. Prior end-to-end …
Amswarmx: Safe swarm coordination in complex environments via implicit non-convex decomposition of the obstacle-free space
Quadrotor motion planning in complex environments leverage the concept of safe flight
corridor (SFC) to facilitate static obstacle avoidance. Typically, SFCs are constructed through …
corridor (SFC) to facilitate static obstacle avoidance. Typically, SFCs are constructed through …
Probabilistic trajectory planning for static and interaction-aware dynamic obstacle avoidance
B Şenbaşlar, GS Sukhatme - arXiv preprint arXiv:2302.12873, 2023 - arxiv.org
Collision-free mobile robot navigation is an important problem for many robotics
applications, especially in cluttered environments. In such environments, obstacles can be …
applications, especially in cluttered environments. In such environments, obstacles can be …
Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion
planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern …
planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern …
Deadlock-free, Safe, and Decentralized Multi-Robot Navigation in Social Mini-Games via Discrete-Time Control Barrier Functions
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-
robot systems operating in constrained environments, including doorways and intersections …
robot systems operating in constrained environments, including doorways and intersections …
Hierarchical Large Scale Multirobot Path (Re) Planning
We consider a large-scale multi-robot path planning problem in a cluttered environment. Our
approach achieves real-time replanning by dividing the workspace into cells and utilizing a …
approach achieves real-time replanning by dividing the workspace into cells and utilizing a …
Gestelt: A Framework for Accelerating the Sim-To-Real Transition for Swarm UAVs
Research in aerial swarms have gained traction in recent years and there appears to be a
lack of user-friendly frameworks with a focus on bringing swarm UAVs from simulation to …
lack of user-friendly frameworks with a focus on bringing swarm UAVs from simulation to …