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    Real-Time Distributed Motion Planning with Submodular Minimization

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    Type
    Conference Paper
    Authors
    Jaleel, Hassan
    Abdelkader, Mohamed cc
    Shamma, Jeff S. cc
    KAUST Department
    Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
    Electrical Engineering Program
    Mechanical Engineering Program
    Physical Science and Engineering (PSE) Division
    RISC Laboratory
    Date
    2018-11-16
    Online Publication Date
    2018-11-16
    Print Publication Date
    2018-08
    Permanent link to this record
    http://hdl.handle.net/10754/630606
    
    Metadata
    Show full item record
    Abstract
    We present a real-time implementation of a distributed motion planning framework that is based on model predictive control with one step prediction horizon and submodular function minimization. In particular, our focus is to evaluate the real-time performance of this distributed motion coordination framework. For performance evaluation, we develop a realistic simulation environment for the challenging setup of capture the flag game, which is played between two teams. We consider a scenario in which each team has four quadcopters and the game is played in an arena with multiple obstacles. We develop the simulation setup primarily in Gazebo with software in the loop. The software in the loop is the autopilot software, which is used to stabilize and control the motion of each quadcopter. The motion plan for the defense team is computed by minimizing submodular potential functions using the distributed and online algorithm presented in our previous work. Based on extensive simulations under various conditions, we verify that the proposed approach can be used effectively for real-time distributed control of multiagent systems over discrete input space.
    Citation
    Jaleel H, Abdelkader M, Shamma JS (2018) Real-Time Distributed Motion Planning with Submodular Minimization. 2018 IEEE Conference on Control Technology and Applications (CCTA). Available: http://dx.doi.org/10.1109/ccta.2018.8511426.
    Publisher
    Institute of Electrical and Electronics Engineers (IEEE)
    Journal
    2018 IEEE Conference on Control Technology and Applications (CCTA)
    Conference/Event name
    2nd IEEE Conference on Control Technology and Applications, CCTA 2018
    DOI
    10.1109/ccta.2018.8511426
    Additional Links
    https://ieeexplore.ieee.org/document/8511426
    ae974a485f413a2113503eed53cd6c53
    10.1109/ccta.2018.8511426
    Scopus Count
    Collections
    Conference Papers; Physical Science and Engineering (PSE) Division; Electrical Engineering Program; Mechanical Engineering Program; Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division

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