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Prioritized group navigation with Formation Velocity Obstacles
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015We introduce the problem of navigating a group of robots having prioritized formations amidst static and dynamic obstacles. Our formulation allows users to define a number of template formations, each with a specified priority value. At each planning cycle, we compute a new formation which accounts for both these priority values and the safe progress ...
Ioannis Karamouzas, Stephen J. Guy
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Reciprocal collision avoidance with acceleration-velocity obstacles
2011 IEEE International Conference on Robotics and Automation, 2011We present an approach for collision avoidance for mobile robots that takes into account acceleration constraints. We discuss both the case of navigating a single robot among moving obstacles, and the case of multiple robots reciprocally avoiding collisions with each other while navigating a common workspace.
Jur van den Berg +3 more
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Velocity obstacles for Dubins-like mobile robots
2017 25th Mediterranean Conference on Control and Automation (MED), 2017The paper deals with the motion planning problem for Dubins-like mobile robots in dynamic environment. Velocity obstacles (VO) method and its non-linear version (NLVO) can be applied for planning a collision-free trajectory for a robot moving among static and dynamic obstacles, whose positions and velocity vectors are supposed to be known.
Emese Gincsaine Szadeczky-Kardoss +1 more
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Avoiding moving obstacles: the forbidden velocity map
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009Robotic obstacle avoidance in cluttered and dense environments is an important issue in robotic navigation. Over the past few years a number of techniques has been proposed to deal with safe navigation among obstacles in unknown scenarios. Unfortunately many of these methods do not consider obstacle velocities, which can rise some serious questions ...
Bruno Damas, Jose Santos-Victor
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Cooperative conflict resolution by velocity obstacle method
2014 UKACC International Conference on Control (CONTROL), 2014© 2014 IEEE. Automated and more efficient methods for resolution of conflicts between aircraft are necessary to support the sustained growth of air traffic. Distributed optimization is one of the proposed conflict resolution methods which can improve efficiency; but, sometimes it imposes an unequal burden on involved agents.
Fatemeh Asadi, Arthur Richards
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2019 IEEE Conference on Control Technology and Applications (CCTA), 2019
In this paper, we propose a vehicle controller which attains practical obstacle avoidance while suppressing relative velocity against moving obstacles with uncertainty. For safety locomotion, obstacle avoidance is important but the observed position of obstacles are usually contaminated by noise while their motion inevitably possesses uncertainty ...
Koji Shibata +2 more
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In this paper, we propose a vehicle controller which attains practical obstacle avoidance while suppressing relative velocity against moving obstacles with uncertainty. For safety locomotion, obstacle avoidance is important but the observed position of obstacles are usually contaminated by noise while their motion inevitably possesses uncertainty ...
Koji Shibata +2 more
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Pedestrian velocity obstacles: pedestrian simulation through reasoning in velocity space
2014We live in a populous world. Furthermore, as social animals, we participate in activities which draw us together into shared spaces -- office buildings, city sidewalks, parks, events (e.g., religious, sporting, or political), etc. Models that can predict how crowds of humans behave in such settings would be valuable in allowing us to analyze the ...
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Multiple Moving Obstacles Avoidance for USV using Velocity Obstacle Method
2021 IEEE International Conference on Unmanned Systems (ICUS), 2021Jiayuan Zhuang +5 more
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The curvature-velocity method for local obstacle avoidance
Proceedings of IEEE International Conference on Robotics and Automation, 2002We present a new method for local obstacle avoidance by indoor mobile robots that formulates the problem as one of constrained optimization in velocity space. Constraints that stem from physical limitations (velocities and accelerations) and the environment (the configuration of obstacles) are placed on the translational and rotational velocities of ...
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Right-of-Way-based Acceleration Velocity Obstacle
2022 Eighth Indian Control Conference (ICC), 2022Balaji Gorantla, Satadal Ghosh
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