TY - GEN
T1 - A scalable framework for real-time multi-robot, multi-human collision avoidance
AU - Bajcsy, Andrea
AU - Herbert, Sylvia L.
AU - Fridovich-Keil, David
AU - Fisac, Jaime F.
AU - Deglurkar, Sampada
AU - Dragan, Anca D.
AU - Tomlin, Claire J.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for robot navigation that accounts for high-order system dynamics and maintains safety in the presence of external disturbances, other robots, and humans. Our approach precomputes a tracking error margin for each robot, generates confidence-aware human motion predictions, and coordinates multiple robots with a sequential priority ordering, effectively enabling scalable safe trajectory planning and execution. We demonstrate our approach in hardware with two robots and two humans, and showcase scalability in a larger simulation.
AB - Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for robot navigation that accounts for high-order system dynamics and maintains safety in the presence of external disturbances, other robots, and humans. Our approach precomputes a tracking error margin for each robot, generates confidence-aware human motion predictions, and coordinates multiple robots with a sequential priority ordering, effectively enabling scalable safe trajectory planning and execution. We demonstrate our approach in hardware with two robots and two humans, and showcase scalability in a larger simulation.
UR - http://www.scopus.com/inward/record.url?scp=85071478168&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071478168&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8794457
DO - 10.1109/ICRA.2019.8794457
M3 - Conference contribution
AN - SCOPUS:85071478168
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 936
EP - 943
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -