Decentralized multi-robot collision-free path following based on time-varying artificial vector fields and MPC-ORCA

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dc.creatorElias J. R. Freitas
dc.creatorArthur da C. Vangasse
dc.creatorGuilherme Vianna Raffo
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2025-06-02T13:42:09Z
dc.date.accessioned2025-09-09T01:28:01Z
dc.date.available2025-06-02T13:42:09Z
dc.date.issued2023
dc.identifier.doihttps://doi.org/10.1109/LARS/SBR/WRE59448.2023.10333004
dc.identifier.urihttps://hdl.handle.net/1843/82692
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.otherThree-dimensional displays , Simulation , Aerospace electronics , Prediction algorithms , Computational efficiency , Multi-robot systems , Collision avoidance
dc.subject.otherMulti-Robot Systems , Collision Avoidance , Motion and Path Planning , Distributed Robot Systems
dc.subject.otherVector Field , Time-varying Field , Collision-free Path , Time-varying Vector , 3D Space , Model Predictive Control , Reference Velocity , Optimization Problem , Active Control , Optimal Control , Number Of Agents , Prediction Horizon , Environmental Agents , Hard Constraints , Presence Of Obstacles , Complete Simulation , Static Obstacles , Robotic Group , Pair Of Agents , Model Predictive Control Problem , Neighboring Agents
dc.titleDecentralized multi-robot collision-free path following based on time-varying artificial vector fields and MPC-ORCA
dc.typeArtigo de evento
local.citation.epage6
local.citation.spage1
local.description.resumoThis work focuses on the solution for multi-agent, collision-free, time-varying path-following problems in 3D spaces. The proposed solution is based on using time-varying artificial vector fields to generate velocity references for single agents. A distributed Model Predictive Control (MPC) scheme is employed, taking into account the system’s dynamics and collision avoidance features, enabling the multi-robot system to follow the dynamic field without collisions and providing great computational efficiency. More specifically, Optimal Reciprocal Collision Avoidance (ORCA) algorithm is used to set constraints, yielding a novel MPC-ORCA approach, for efficient collision avoidance in the multi-agent scenario. Simulation scenarios are used to validate and compare the proposed approach with traditional methods, highlighting its improvements.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/10333004

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