4 papers · 1 filter
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…