MPC-CBF strategy for multi-robot collision-free path-following

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dc.creatorArthur da C. Vangasse
dc.creatorGuilherme Vianna Raffo
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2025-06-03T14:45:53Z
dc.date.accessioned2025-09-09T00:45:50Z
dc.date.available2025-06-03T14:45:53Z
dc.date.issued2023
dc.identifier.doi10.1109/LARS/SBR/WRE59448.2023.10332984
dc.identifier.urihttps://hdl.handle.net/1843/82742
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofLatin American Robotics Symposium (LARS 2023) / Brazilian Symposium on Robotics (SBR 2023) / Workshop on Robotics in Education (WRE 2023)
dc.rightsAcesso Restrito
dc.subjectRobôs - Sistemas de controle
dc.subject.otherConferences , Education , Predictive models , Robustness , Delays , Collision avoidance , Task analysis
dc.subject.otherMulti-Robot Systems , Collision Avoidance , Motion and Path Planning , Distributed Robot Systems
dc.subject.otherDynamic Model , Vector Field , Model Predictive Control , Multiple Integration , Robotic Group , Model Predictive Control Problem , Active Control , Optimal Control , 3D Space , Number Of Agents , Multi-agent Systems , Safe Distance , Prediction Horizon , Deadlock , Safe Set , Pair Of Agents , Safe Path , Sublevel Set
dc.titleMPC-CBF strategy for multi-robot collision-free path-following
dc.typeArtigo de evento
local.citation.epage6
local.citation.spage1
local.description.resumoMulti-agent time-varying path following problems still offer a wide variety of open challenges, in which efficient collision avoidance is of great importance in this context. This work proposes a solution based on artificial vector fields that generate velocity references for single agents in path-following tasks. A distributed Model Predictive Control (MPC) scheme accountable for double integrator dynamic models and collision avoidance features enables the group of robots to follow the dynamic field in a safe manner. Control Barrier Functions (CBF) are utilized to include collision avoidance in the MPC problem. Simulation scenarios corroborate the method’s efficiency and highlight the improvements in contrast with previous works.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/10332984

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