RBE Master's Capstone Presentation - Noopur Koshta

Wednesday, May 29, 2024
1:00 pm to 2:00 pm

Distributed Safety-Critical Motion Planning for Mobile Robots in Dynamic Environment


Noopur Koshta

Abstract: In this project, we demonstrated trajectory planning for multi-agent systems to reach a moving target without collisions. This approach can be applied to scenarios like oil spill containment, where robots encircle and contain the spill, and in warehouse robotics, where multiple robots collaborate to move an object. We mapped the 2D environment into Voronoi cells, assigning each robot to a distinct cell. The convex nature of these cells allows smooth, non-collision paths, ensuring that straight-line paths remain within the cells and avoiding collisions. As the targets move, Voronoi cells dynamically adjust to reflect new positions, maintaining well-defined, collision-free zones. This allows robots to encircle the target in a coordinated manner. Each robot operates independently within its cell, reducing overall system complexity and enhancing scalability. This distributed control method simplifies trajectory planning and ensures efficient, collision-free movement. 

Committee: Professor Siavash Farzan

Location: Zoom - https://wpi.zoom.us/j/95969970709 



Robotics Engineering