Details
| Original language | English |
|---|---|
| Title of host publication | 2024 IEEE International Conference on Robotics and Automation |
| Subtitle of host publication | ICRA |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 13220-13226 |
| Number of pages | 7 |
| ISBN (electronic) | 9798350384574 |
| ISBN (print) | 979-8-3503-8458-1 |
| Publication status | Published - 13 May 2024 |
| Event | 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Japan Duration: 13 May 2024 → 17 May 2024 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
|---|---|
| ISSN (Print) | 1050-4729 |
Abstract
The rise of autonomous driving in everyday life makes efficient and collision-free motion planning more important than ever. However, multi robot applications in highly dynamic environments still pose hard challenges for state-of-the-art motion planners. In this paper, we present a new iteration of a reactive circular fields motion planner with the focus on simultaneous control of multiple robots in robotic soccer games, which is able to operate omnidirectional robots safely and efficiently despite high measurement delays and inaccuracies. Our extension enables the definition and effective execution of complex tasks in soccer specific problems. We extensively evaluated our planner in several complex simulation environments and experimentally verified the approach in realistic scenarios on real soccer robots. Furthermore, we demonstrated the capabilities of our motion planner during the successful participation in the RoboCup 2022 and 2023.
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
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2024 IEEE International Conference on Robotics and Automation: ICRA . Institute of Electrical and Electronics Engineers Inc., 2024. p. 13220-13226 (Proceedings - IEEE International Conference on Robotics and Automation).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Circular Field Motion Planning for Highly-Dynamic Multi-Robot Systems with Application to Robot Soccer
AU - Zeug, Fabrice
AU - Becker, Marvin
AU - Müller, Matthias A.
N1 - Publisher Copyright: © 2024 IEEE.
PY - 2024/5/13
Y1 - 2024/5/13
N2 - The rise of autonomous driving in everyday life makes efficient and collision-free motion planning more important than ever. However, multi robot applications in highly dynamic environments still pose hard challenges for state-of-the-art motion planners. In this paper, we present a new iteration of a reactive circular fields motion planner with the focus on simultaneous control of multiple robots in robotic soccer games, which is able to operate omnidirectional robots safely and efficiently despite high measurement delays and inaccuracies. Our extension enables the definition and effective execution of complex tasks in soccer specific problems. We extensively evaluated our planner in several complex simulation environments and experimentally verified the approach in realistic scenarios on real soccer robots. Furthermore, we demonstrated the capabilities of our motion planner during the successful participation in the RoboCup 2022 and 2023.
AB - The rise of autonomous driving in everyday life makes efficient and collision-free motion planning more important than ever. However, multi robot applications in highly dynamic environments still pose hard challenges for state-of-the-art motion planners. In this paper, we present a new iteration of a reactive circular fields motion planner with the focus on simultaneous control of multiple robots in robotic soccer games, which is able to operate omnidirectional robots safely and efficiently despite high measurement delays and inaccuracies. Our extension enables the definition and effective execution of complex tasks in soccer specific problems. We extensively evaluated our planner in several complex simulation environments and experimentally verified the approach in realistic scenarios on real soccer robots. Furthermore, we demonstrated the capabilities of our motion planner during the successful participation in the RoboCup 2022 and 2023.
UR - http://www.scopus.com/inward/record.url?scp=85202443260&partnerID=8YFLogxK
U2 - 10.1109/ICRA57147.2024.10611138
DO - 10.1109/ICRA57147.2024.10611138
M3 - Conference contribution
AN - SCOPUS:85202443260
SN - 979-8-3503-8458-1
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 13220
EP - 13226
BT - 2024 IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Y2 - 13 May 2024 through 17 May 2024
ER -