Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees
Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees
复制标题
通过不变几何树的可达性分析在 3D 工作空间中在线规划四旋翼飞行器团队
DOI：
10.1109/icra40945.2020.9197195
复制
发表时间：
2020
期刊：
影响因子：
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通讯作者：
Nathan Michael
中科院分区：
文献类型：
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作者：
Arjav Desai;Nathan Michael
我们考虑了三维空间中的运动学多机器人规划问题。利用位置不变几何树上的可达性分析，从潜在的非平稳初始状态中为多机器人团队找到运动学上可行的轨迹。我们的方法的关键贡献是，无碰撞的几何解决方案保证了一个kinodynamically可行的，安全的解决方案，无需额外的改进。仿真结果与多达40个机器人和5个机器人的硬件结果表明，所提出的方法的可行性，在线规划和重新规划的大型团队的空中机器人在杂乱的3-D机器人。
We consider the kinodynamic multi-robot planning problem in cluttered 3-D workspaces. Reachability analysis on position invariant geometric trees is leveraged to find kino- dynamically feasible trajectories for the multi-robot team from potentially non-stationary initial states. The key contribution of our approach is that a collision-free geometric solution guarantees a kinodynamically feasible, safe solution without additional refinement. Simulation results with up-to 40 robots and hardware results with 5 robots suggest the viability of the proposed approach for online planning and replanning for large teams of aerial robots in cluttered 3-D workspaces.