Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)
Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)
Independent navigation of multiple mobile robots with hybrid reciprocal velocity obstacles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
CALU: collision avoidance with localization uncertainty (demonstration)
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 3
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This paper describes a multi-robot collision avoidance system based on the velocity obstacle paradigm. In contrast to previous approaches, we alleviate the strong requirement for perfect sensing (i.e. global positioning) using Adaptive Monte-Carlo Localization on a per-agent level. While such methods as Optimal Reciprocal Collision Avoidance guarantee local collision-free motion for a large number of robots, given perfect knowledge of positions and speeds, a realistic implementation requires further extensions to deal with inaccurate localization and message passing delays. The presented algorithm bounds the error introduced by localization and combines the computation for collision-free motion with localization uncertainty. We provide an open source implementation using the Robot Operating System (ROS). The system is tested and evaluated with up to eight robots in simulation and on four differential drive robots in a real-world situation.