5 papers
Closed Form Modelling and Identification of Banking Effects in Confined Waters
Jeppe H. Mikkelsen, Thomas T. Enevoldsen, Bugge T. Jensen +3
Vessels navigating in confined waters are subject to banking effects, which are hydrodynamic forces and moments arising from pressure differentials between the vessel sides, signif…
Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance
Jeppe Heini Mikkelsen, Vit Kratky, Roberto Galeazzi +2
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised th…
Optimal Distributed Multi-Robot Communication-Aware Trajectory Planning using Alternating Direction Method of Multipliers
Jeppe Heini Mikkelsen, Roberto Galeazzi, Matteo Fumagalli
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communic…
Optimal Multi-Robot Communication-Aware Trajectory Planning by Constraining the Fiedler Value
Jeppe Heini Mikkelsen, Roberto Galeazzi, Matteo Fumagalli
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes i…
Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration
Jeppe Heini Mikkelsen, Matteo Fumagalli
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots moti…