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77
Reciprocal Velocity Obstacles for Real-Time Multi-Agent Navigation
- IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 2008
"... In this paper, we propose a new concept - the "Reciprocal Velocity Obstacle" - for real-time multi-agent navigation. We consider the case in which each agent navigates independently without explicit communication with other agents. Our formulation is an extension of the Velocity Obstacle c ..."
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Cited by 104 (22 self)
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In this paper, we propose a new concept - the "Reciprocal Velocity Obstacle" - for real-time multi-agent navigation. We consider the case in which each agent navigates independently without explicit communication with other agents. Our formulation is an extension of the Velocity Obstacle concept, which was introduced for navigation among (passively) moving obstacles. Our approach takes into account the reactive behavior of the other agents by implicitly assuming that the other agents make a similar collision-avoidance reasoning. We show that this method guarantees safe and oscillationfree motions for each of the agents. We apply our concept to navigation of hundreds of agents in densely populated environments containing both static and moving obstacles, and we show that real-time and scalable performance is achieved in such challenging scenarios.
Anytime path planning and replanning in dynamic environments,”
- in IEEE International Conference on Robotics and Automation,
, 2006
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Reciprocal n-body Collision Avoidance
- INTERNATIONAL SYMPOSIUM ON ROBOTICS RESEARCH
, 2009
"... In this paper, we present a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace. In our formulation, each robot acts fully independently, and does not communicate with other robots. Based o ..."
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Cited by 65 (22 self)
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In this paper, we present a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace. In our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles, we derive sufficient conditions for collision-free motion by reducing the problem to solving a low-dimensional linear program. We test our approach on several dense and complex simulation scenarios involving thousands of robots and compute collision-free actions for all of them in only a few milliseconds. To the best of our knowledge, this method is the first that can guarantee local collision-free motion for a large number of robots in a cluttered workspace.
Planning-based Prediction for Pedestrians
"... Abstract — We present a novel approach for determining robot movements that efficiently accomplish the robot’s tasks while not hindering the movements of people within the environment. Our approach models the goal-directed trajectories of pedestrians using maximum entropy inverse optimal control. Th ..."
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Cited by 54 (15 self)
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Abstract — We present a novel approach for determining robot movements that efficiently accomplish the robot’s tasks while not hindering the movements of people within the environment. Our approach models the goal-directed trajectories of pedestrians using maximum entropy inverse optimal control. The advantage of this modeling approach is the generality of its learned cost function to changes in the environment and to entirely different environments. We employ the predictions of this model of pedestrian trajectories in a novel incremental planner and quantitatively show the improvement in hindrancesensitive robot trajectory planning provided by our approach. I.
A short paper about motion safety,”
- in Int. Conf. on Robotics and Automation. IEEE,
, 2007
"... Abstract-Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is a taken-for-granted and ill-defined notion in the Robotics literature and the primary cont ..."
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Cited by 37 (10 self)
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Abstract-Motion safety for robotic systems operating in the real world is critical (especially when their size and dynamics make them potentially harmful for themselves or their environment). Motion safety is a taken-for-granted and ill-defined notion in the Robotics literature and the primary contribution of this paper is to propose three safety criteria that helps in understanding a number of key aspects related to the motion safety issue. A number of navigation schemes used by robotic systems operating in the real-world are then evaluated with respect to these safety criteria. It is established that, in all cases, they violate one or several of them. Accordingly, motion safety, especially in the presence of moving objects, cannot be guaranteed (in the sense that these robotic systems may end up in a situation where a collision inevitably occurs later in the future). Finally, it is shown that the concept of Inevitable Collision States introduced in [1] does respect the three above-mentioned safety criteria and therefore offers a theoretical answer to the motion safety issue.
Interactive Navigation of Multiple Agents in Crowded Environments
- SYMPOSIUM ON INTERACTIVE 3D GRAPHICS AND GAMES
, 2008
"... We present a novel approach for interactive navigation and planning of multiple agents in crowded scenes with moving obstacles. Our formulation uses a precomputed roadmap that provides macroscopic, global connectivity for wayfinding and combines it with fast and localized navigation for each agent. ..."
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Cited by 31 (3 self)
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We present a novel approach for interactive navigation and planning of multiple agents in crowded scenes with moving obstacles. Our formulation uses a precomputed roadmap that provides macroscopic, global connectivity for wayfinding and combines it with fast and localized navigation for each agent. At runtime, each agent senses the environment independently and computes a collision-free path based on an extended "Velocity Obstacles" concept. Furthermore, our algorithm ensures that each agent exhibits no oscillatory behaviors. We have tested the performance of our algorithm in several challenging scenarios with a high density of virtual agents. In practice, the algorithm performance scales almost linearly with the number of agents and can run at interactive rates on multi-core processors.
Probabilistic motion planning among moving obstacles following typical motion patterns
- in Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
"... following typical motion patterns. ..."
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Time-bounded Lattice for Efficient Planning in Dynamic Environments
, 2009
"... For vehicles navigating initially unknown cluttered environments, current state-of-the-art planning algorithms are able to plan and re-plan dynamically-feasible paths efficiently and robustly. It is still a challenge, however, to deal well with the surroundings that are both cluttered and highly dyn ..."
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Cited by 21 (2 self)
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For vehicles navigating initially unknown cluttered environments, current state-of-the-art planning algorithms are able to plan and re-plan dynamically-feasible paths efficiently and robustly. It is still a challenge, however, to deal well with the surroundings that are both cluttered and highly dynamic. Planning under these conditions is more difficult for two reasons. First, tracking and predicting the trajectories of moving objects (i.e., cars, humans) is very noisy. Second, the planning process is computationally more expensive because of the increased dimensionality of the statespace, with time as an additional variable. Moreover, re-planning needs to be invoked more often since the trajectories of moving obstacles need to be constantly re-estimated. In this paper, we develop a path planning algorithm that addresses these challenges. First, we choose a representation of dynamic obstacles that efficiently models their predicted trajectories and the uncertainty associated with the predictions. Second, to provide realtime guarantees on the performance of planning with dynamic obstacles, we propose to utilize a novel data structure for planning- a time-bounded lattice- that merges together short-term planning in time with longterm planning without time. We demonstrate the effectiveness of the approach in both simulations with up to 30 dynamic obstacles and on real robots.
An inevitable collision statechecker for a car-like vehicle
- in Proc. of the IEEE Int. Conf. on Robotics and Automation, Roma (IT
, 2007
"... Abstract — An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs [1]. The ICS concept takes into account both the dynamics of the robotic system and the future moti ..."
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Cited by 17 (6 self)
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Abstract — An Inevitable Collision State (ICS) for a robotic system is a state for which, no matter what the future trajectory followed by the system is, a collision with an obstacle eventually occurs [1]. The ICS concept takes into account both the dynamics of the robotic system and the future motion of the moving objects of the environment. For obvious safety reasons, a robotic system should never ever end up in an ICS hence the interest of the ICS concept when it comes to safely drive robotic systems in dynamic environments. In theory, determining whether a given state is an ICS requires to check for collision all possible future trajectories of infinite duration that the robotic system can follow from this particular state! In practise, it is fortunately possible to build a conservative approximation of the ICS set by considering only a finite subset of the whole set of possible future trajectories. The primary contribution of the paper is a general principle to select the subset of trajectories based upon the concept of imitating manoeuvres, ie trajectories leading the robotic system to duplicate the behaviour of the environment objects (fixed or moving), it is shown how a good approximation of the ICS set can be obtained. The second contribution of the paper is an ICS-Checker for a car-like vehicle moving in a dynamic environment. This ICS-Checker integrates the abovementioned selection principle. It is efficient and could be used in practise to compute truly safe motions for a car-like vehicle amidst moving objects.
