Decentralized multi-vehicle path coordination under communication constraints

Pramod Abichandani, Hande Y. Benson, Moshe Kam

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

We present a mathematical programming based decentralized framework to generate time optimal velocity profiles for a group of path constrained mobile vehicle robots subject to communication connectivity constraints. Each vehicle robot starts from a fixed start point and moves towards a goal point along a fixed path so as to avoid collisions with other robots, and remain in communication connectivity with other robots. The main contribution of this paper is the discrete time decentralized Receding Horizon Mixed Integer Nonlinear Programming (RH-MINLP) formulation of the multi-vehicle path coordination problem with constraints on kinematics, dynamics, collision avoidance, and communication connectivity, and the application of state-of-the-art MINLP solution techniques. We test scenarios involving up to ten (10) robots to demonstrate (i) the effect of communication connectivity requirements on robot velocity profiles; and (ii) the dependence of the solution computation time on communication connectivity requirements.

Original languageEnglish (US)
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2306-2313
Number of pages8
DOIs
StatePublished - 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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