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Smooth Coordination and Navigation for Multiple Differential-Drive Robots

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 79))

Abstract

Multiple independent robots sharing the workspace need to be able to navigate to their goals while avoiding collisions with each other. In this paper, we describe and evaluate two algorithms for smooth and collision-free navigation for multiple independent differential-drive robots.We extend reciprocal collision avoidance algorithms based on velocity obstacles and on acceleration-velocity obstacles. We implement bothmethods on multiple iRobot Create differential-drive robots, and report on the quality and ability of the robots using the two algorithms to navigate to their goals in a smooth and collision-free manner.

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Authors and Affiliations

  1. University of North Carolina at Chapel Hill, Chapel Hill, NC, 27599, USA

    Jamie Snape, Stephen J. Guy, Jur van den Berg & Dinesh Manocha

Authors
  1. Jamie Snape
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  2. Stephen J. Guy
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  3. Jur van den Berg
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  4. Dinesh Manocha
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Corresponding author

Correspondence to Jamie Snape .

Editor information

Editors and Affiliations

  1. Artificial Intelligence Laboratory, Stanford University Dept. Computer Science, Stanford, California, USA

    Oussama Khatib

  2. Department of Mechanical Engineering, University of Pennsylvania GRASP Laboratory, Philadelphia, Pennsylvania, USA

    Vijay Kumar

  3. Department of Computer Science, University of Southern California MC 290, California, USA

    Gaurav Sukhatme

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Snape, J., Guy, S.J., van den Berg, J., Manocha, D. (2014). Smooth Coordination and Navigation for Multiple Differential-Drive Robots. In: Khatib, O., Kumar, V., Sukhatme, G. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 79. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28572-1_41

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  • DOI: https://doi.org/10.1007/978-3-642-28572-1_41

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-28571-4

  • Online ISBN: 978-3-642-28572-1

  • eBook Packages: EngineeringEngineering (R0)

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