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A Reactive Approach to Handling Multirobot Collision Based on p-Norm Approximation
Örebro University, School of Science and Technology. (Center for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0002-0334-2554
Örebro University, School of Science and Technology. (Center for Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0001-8119-0843
2023 (English)In: IEEE Transactions on Industrial Electronics, ISSN 0278-0046, E-ISSN 1557-9948, Vol. 71, no 8, p. 9265-9275Article in journal (Refereed) Published
Abstract [en]

In this article, we propose a new method for multi-robot systems to have reactive responses to various collision scenarios in real time. This method contains a novel p-norm approximation-based reactive approach, which allows multiple robots to avoid mutual collisions or to adapt to the collisions with intelligently regulated force. Compared with existing approaches, the implementation of the proposed method is simpler and more convenient since our reactive approach works as several linear Quadratic Programming (QP) constraints, allowing for flexible utilization by Inverse Kinematics (IK) solvers. In addition, it requires low computational complexity, achieves high accuracy, and does not need training. In the experiments, we employ a multi-robot system to conduct comprehensive comparisons between the proposed method and state-of-the-art approaches, effectively showcasing the efficacy of our work.

Place, publisher, year, edition, pages
IEEE, 2023. Vol. 71, no 8, p. 9265-9275
Keywords [en]
Collision adaptation, collision avoidance, multirobot system
National Category
Robotics
Identifiers
URN: urn:nbn:se:oru:diva-109628DOI: 10.1109/TIE.2023.3331141ISI: 001119858600001Scopus ID: 2-s2.0-85178017640OAI: oai:DiVA.org:oru-109628DiVA, id: diva2:1810514
Funder
Knowledge Foundation, 20210016Available from: 2023-11-08 Created: 2023-11-08 Last updated: 2024-05-14Bibliographically approved

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Sun, DaLiao, Qianfang

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