[Research] Fast Collision Avoidance with Uncertainty

Heya r/robotics !

Here’s a new paper that we recently put out for provable, safe collision avoidance in drone swarms. Thought some of you might find it interesting. We will, hopefully somewhat soon, be releasing a library for generating the corresponding optimization problems for embedded platforms.

The abstract:

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors with no inter-agent communication. Under some mild conditions, we provide guarantees on mutual collision avoidance for a broad class of policies including the one presented. Additionally, we provide numerical examples of computational performance and show that, in both 2D and 3D simulations, all agents avoid each other and reach their desired goals in spite of their uncertainty about the locations of other agents.

Additionally, the technical video can be found here.

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I’d love to answer any questions you may have!

submitted by /u/nearly_convex
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