Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A Survey
Multi-robot systems (MRSs) are widely applied in the fields of joint search and rescue, exploration, and carrying. To achieve cooperative tasks and guarantee physical safety, the robots should avoid inter-robot collisions as well as robot–obstacle collisions. However, the collision/obstacle avoidanc...
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MDPI AG
2025-02-01
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| Online Access: | https://www.mdpi.com/2076-0825/14/2/85 |
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| author | Guanghong Yang Liwei An Can Zhao |
| author_facet | Guanghong Yang Liwei An Can Zhao |
| author_sort | Guanghong Yang |
| collection | DOAJ |
| description | Multi-robot systems (MRSs) are widely applied in the fields of joint search and rescue, exploration, and carrying. To achieve cooperative tasks and guarantee physical safety, the robots should avoid inter-robot collisions as well as robot–obstacle collisions. However, the collision/obstacle avoidance task usually conflicts with the given cooperative task, which poses a significant challenge for the achievement of multi-robot cooperative tasks. This paper provides a review of the state-of-the-art results in the collision/obstacle avoidance cooperative control of MRSs. Specifically, the latest developments of collision/obstacle avoidance cooperative control are summarized according to different planning strategies and classified into three categories: (1) offline planning; (2) receding horizon planning; and (3) reactive control. Furthermore, specific design solutions for existing reference/command governors are highlighted to demonstrate the latest research advances. Finally, several challenging issues are discussed to guide future research. |
| format | Article |
| id | doaj-art-13ca9faac87e4744836c4315a0d8e617 |
| institution | DOAJ |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-13ca9faac87e4744836c4315a0d8e6172025-08-20T02:44:57ZengMDPI AGActuators2076-08252025-02-011428510.3390/act14020085Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A SurveyGuanghong Yang0Liwei An1Can Zhao2College of Information Science and Engineering, Northeastern University, Shenyang 110819, ChinaCollege of Information Science and Engineering, Northeastern University, Shenyang 110819, ChinaCollege of Information Science and Engineering, Northeastern University, Shenyang 110819, ChinaMulti-robot systems (MRSs) are widely applied in the fields of joint search and rescue, exploration, and carrying. To achieve cooperative tasks and guarantee physical safety, the robots should avoid inter-robot collisions as well as robot–obstacle collisions. However, the collision/obstacle avoidance task usually conflicts with the given cooperative task, which poses a significant challenge for the achievement of multi-robot cooperative tasks. This paper provides a review of the state-of-the-art results in the collision/obstacle avoidance cooperative control of MRSs. Specifically, the latest developments of collision/obstacle avoidance cooperative control are summarized according to different planning strategies and classified into three categories: (1) offline planning; (2) receding horizon planning; and (3) reactive control. Furthermore, specific design solutions for existing reference/command governors are highlighted to demonstrate the latest research advances. Finally, several challenging issues are discussed to guide future research.https://www.mdpi.com/2076-0825/14/2/85multi-robot systemscooperationcollision/obstacle avoidance |
| spellingShingle | Guanghong Yang Liwei An Can Zhao Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A Survey Actuators multi-robot systems cooperation collision/obstacle avoidance |
| title | Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A Survey |
| title_full | Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A Survey |
| title_fullStr | Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A Survey |
| title_full_unstemmed | Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A Survey |
| title_short | Collision/Obstacle Avoidance Coordination of Multi-Robot Systems: A Survey |
| title_sort | collision obstacle avoidance coordination of multi robot systems a survey |
| topic | multi-robot systems cooperation collision/obstacle avoidance |
| url | https://www.mdpi.com/2076-0825/14/2/85 |
| work_keys_str_mv | AT guanghongyang collisionobstacleavoidancecoordinationofmultirobotsystemsasurvey AT liweian collisionobstacleavoidancecoordinationofmultirobotsystemsasurvey AT canzhao collisionobstacleavoidancecoordinationofmultirobotsystemsasurvey |