Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration

Jeppe Heini Mikkelsen; Matteo Fumagalli

doi:10.1109/ICAR58858.2023.10436503

Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration

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Abstract

Coordinated movement among multiple robots is crucial in various multi-robot operations. This paper presents a novel approach to multi-robot formation planning. The proposed method builds upon distributed feasible rigid formation planning, finding a set of motions that allow robots to navigate while keeping an a priori determined formation shape. By mapping desired velocities into a parameter space, performing consensus and constraint steps, and remapping to robot velocities, the algorithm ensures that the robots maintain formation. The efficacy and run-time efficiency have been evaluated through simulations, demonstrating its promise for deployment on computation-limited robots.

Original language	English
Title of host publication	Proceedings of 21^st International Conference on Advanced Robotics
Publisher	IEEE
Publication date	2023
Pages	627-632
ISBN (Electronic)	9798350342291
DOIs	https://doi.org/10.1109/ICAR58858.2023.10436503
Publication status	Published - 2023
Event	21^st International Conference on Advanced Robotics - Khalifa University, Abu Dhabi, United Arab Emirates Duration: 5 Dec 2023 → 8 Dec 2023

Conference

Conference	21^st International Conference on Advanced Robotics
Location	Khalifa University
Country/Territory	United Arab Emirates
City	Abu Dhabi
Period	05/12/2023 → 08/12/2023

Keywords

Consensus
Distributed systems
Motion planning
Multi-robot Systems
Robot formations
Robot swarms

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10.1109/ICAR58858.2023.10436503

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title = "Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration",

abstract = "Coordinated movement among multiple robots is crucial in various multi-robot operations. This paper presents a novel approach to multi-robot formation planning. The proposed method builds upon distributed feasible rigid formation planning, finding a set of motions that allow robots to navigate while keeping an a priori determined formation shape. By mapping desired velocities into a parameter space, performing consensus and constraint steps, and remapping to robot velocities, the algorithm ensures that the robots maintain formation. The efficacy and run-time efficiency have been evaluated through simulations, demonstrating its promise for deployment on computation-limited robots.",

keywords = "Consensus, Distributed systems, Motion planning, Multi-robot Systems, Robot formations, Robot swarms",

author = "Mikkelsen, {Jeppe Heini} and Matteo Fumagalli",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 21<sup>st</sup> International Conference on Advanced Robotics, ICAR 2023 ; Conference date: 05-12-2023 Through 08-12-2023",

year = "2023",

doi = "10.1109/ICAR58858.2023.10436503",

language = "English",

pages = "627--632",

booktitle = "Proceedings of 21st International Conference on Advanced Robotics",

publisher = "IEEE",

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}

Mikkelsen, JH & Fumagalli, M 2023, Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration. in Proceedings of 21^st International Conference on Advanced Robotics. IEEE, pp. 627-632, 21^st International Conference on Advanced Robotics, Abu Dhabi, United Arab Emirates, 05/12/2023. https://doi.org/10.1109/ICAR58858.2023.10436503

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AU - Mikkelsen, Jeppe Heini

AU - Fumagalli, Matteo

PY - 2023

Y1 - 2023

N2 - Coordinated movement among multiple robots is crucial in various multi-robot operations. This paper presents a novel approach to multi-robot formation planning. The proposed method builds upon distributed feasible rigid formation planning, finding a set of motions that allow robots to navigate while keeping an a priori determined formation shape. By mapping desired velocities into a parameter space, performing consensus and constraint steps, and remapping to robot velocities, the algorithm ensures that the robots maintain formation. The efficacy and run-time efficiency have been evaluated through simulations, demonstrating its promise for deployment on computation-limited robots.

AB - Coordinated movement among multiple robots is crucial in various multi-robot operations. This paper presents a novel approach to multi-robot formation planning. The proposed method builds upon distributed feasible rigid formation planning, finding a set of motions that allow robots to navigate while keeping an a priori determined formation shape. By mapping desired velocities into a parameter space, performing consensus and constraint steps, and remapping to robot velocities, the algorithm ensures that the robots maintain formation. The efficacy and run-time efficiency have been evaluated through simulations, demonstrating its promise for deployment on computation-limited robots.

KW - Consensus

KW - Distributed systems

KW - Motion planning

KW - Multi-robot Systems

KW - Robot formations

KW - Robot swarms

U2 - 10.1109/ICAR58858.2023.10436503

DO - 10.1109/ICAR58858.2023.10436503

M3 - Article in proceedings

AN - SCOPUS:85185833766

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EP - 632

BT - Proceedings of 21st International Conference on Advanced Robotics

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Y2 - 5 December 2023 through 8 December 2023

ER -

Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration

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