Collaborative Robotics

Mobile Robot Motion Coordination without Dynamic Coupling

Centralized and Distributed Motion Coordination

This set of papers presents work in motion planning and coordination for collaborative multi-robots using MPC and strong duality.

Publications:

Shen, X., Borrelli, F. (2022). Multi-vehicle Conflict Resolution in Highly Constrained Spaces by Merging Optimal Control and Reinforcement Learning
Firoozi,R.,Zhang,X.,& Borrelli,F. (2020). Formation and Reconfiguration of Tight Multi-Lane Platoons. arXiv preprint arXiv:2003.08595
Firoozi,R., Ferranti,L., Zhang,X., Nejadnik,S.,& Borrelli,F. (2020). A Distributed Multi-Robot Coordination Algorithm for Navigation in Tight Environments. arXiv preprint arXiv:2006.11492
Shen, X., Zhang, X., & Borrelli, F. (2020, July). Autonomous parking of vehicle fleet in tight environments. In 2020 American Control Conference (ACC) (pp. 3035-3040). IEEE.

Decentralized and Distributed Learning Model Predictive Control

This set of papers presents work in trajectory generation and motion planning for collaborative multi-agent systems using hierarchical and distributed iterative learning methods.

Publications:

Three car example

Ten car initialization trajectory

Ten car converged trajectory at iteration 22

Mobile Robot Motion Coordination with Dynamic Coupling

This set of papers shows decentralized collaborative robotic path planning and obstacle avoidance in uncertain environments.

Publications:

Bujarbaruah M, Stürz YR, Holda C, Johansson KH, Borrelli F. Decentralized 2-Robot Transportation with Local and Indirect Sensing. arXiv preprint arXiv:2103.04460. 2021 Mar 7.

GitHub repositories:

LeadFollowRobots GitHub