A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online

Kostas E. Bekris, Konstantinos I. Tsianos, Lydia E. Kavraki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Scopus citations

Abstract

This paper considers the problem of coordinating multiple vehicles with kinodynamic constraints that operate in the same partially-known environment. The vehicles are able to communicate within limited range. Their objective is to avoid collisions between them and with the obstacles, while the vehicles move towards their goals. An important issue of real-time planning for systems with bounded acceleration is that inevitable collision states must also be avoided. The focus of this paper is to guarantee safety despite the dynamic constraints with a decentralized motion planning technique that employs only local information. We propose a coordination framework that allows vehicles to generate and select compatible sets of valid trajectories and prove that this scheme guarantees collision-avoidance in the specified setup. The theoretical results have been also experimentally confirmed with a distributed simulator where each vehicle replans online with a sampling-based, kinodynamic motion planner and uses message-passing to communicate with neighboring agents.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3784-3790
Number of pages7
DOIs
StatePublished - Dec 1 2007
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Bekris, K. E., Tsianos, K. I., & Kavraki, L. E. (2007). A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 3784-3790). [4399520] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399520