3 research outputs found
Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming
This work is concerned with the problem of planning trajectories and
assigning tasks for a Multi-Agent System (MAS) comprised of differential drive
robots. We propose a multirate hierarchical control structure that employs a
planner based on robust Model Predictive Control (MPC) with mixed-integer
programming (MIP) encoding. The planner computes trajectories and assigns tasks
for each element of the group in real-time, while also guaranteeing the
communication network of the MAS to be robustly connected at all times.
Additionally, we provide a data-based methodology to estimate the disturbances
sets required by the robust MPC formulation. The results are demonstrated with
experiments in two obstacle-filled scenariosComment: Submitted to Advanced Robotics special issue on Online Motion
Planning and Model Predictive Contro
A Mixed-Integer Approach for Motion Planning of Nonholonomic Robots under Visible Light Communication Constraints
This work addresses the problem of motion planning for a group of
nonholonomic robots under Visible Light Communication (VLC) connectivity
requirements. In particular, we consider an inspection task performed by a
Robot Chain Control System (RCCS), where a leader must visit relevant regions
of an environment while the remaining robots operate as relays, maintaining the
connectivity between the leader and a base station. We leverage Mixed-Integer
Linear Programming (MILP) to design a trajectory planner that can coordinate
the RCCS, minimizing time and control effort while also handling the issues of
directed Line-Of-Sight (LOS), connectivity over directed networks, and the
nonlinearity of the robots' dynamics. The efficacy of the proposal is
demonstrated with realistic simulations in the Gazebo environment using the
Turtlebot3 robot platform.Comment: This work has been submitted to the IEEE for possible publication.
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