Abstract

This workshop focuses on safe motion coordination and guidance for mobile robots by leveraging the latest advancements in Guiding Vector Fields (GVFs) to ensure formal guarantees. The primary objective is to introduce a robotic guidance strategy so that engineers and researchers can seamlessly integrate it with complex robot dynamics, even in challenging environments requiring obstacle and multi-robot collision avoidance. Guiding Vector Fields are a purely reactive strategy, eliminating the need for optimization, thereby making it ideal for real-time applications or systems with limited computational power. Mathematically, the approach is guaranteed to be free of singularities, even when navigating self-intersecting paths or operating in three-dimensional spaces. Additionally, the method is compatible with consensus algorithms, enabling coordinated motion and emergent behavior on both paths and surfaces. The workshop will present the mathematical foundations of GVFs, share practical insights from real-world implementations with drones, and offer a tutorial on how it is implemented in an open-source autopilot.

Speakers

Organizers