Vít Krátký presents Collision-Aware Time-Optimal Formation Reshaping for Efficient Robot Coordination in 3D Environments
On 2025-05-06 11:00:00 at E112, Karlovo náměstí 13, Praha 2
In mobile robotics, agents benefit from being organized in a formation for a
variety of real-world applications requiring frequent alterations in formation
shape for efficient navigation or task completion. Given the constrained
operational time inherent to battery-powered mobile robots, the time needed to
complete the formation reshaping process is crucial for their efficient
operation. This seminar will present our recent work on time-optimal formation
reshaping for mobile robotic systems. We will introduce a Collision-Aware
Time-Optimal formation Reshaping Algorithm (CAT-ORA) designed to minimize the
time needed for shape adaptations in 3D formations while ensuring inter-agent
collision avoidance. The CAT-ORA builds upon the Hungarian algorithm for the
solution of the robot-to-goal assignment implementing the inter-agent collision
avoidance through direct constraints on mutually exclusive robot-goal pairs
combined with a trajectory generation approach minimizing the duration of the
reshaping process. Our results include theoretical validation, simulations, and
a real-world outdoor experiment with 19 drones, showing up to a 49% reduction
in
the makespan of the formation reshaping process compared to existing methods.
The seminar will be held in a short format of 20 minutes + 10 minutes Q&A.
Reference:
V. Kratky, R. Penicka, J. Horyna, P. Stibinger, T. Baca, M. Petrlik, P. Stepan,
M. Saska, "CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for
Efficient Robot Coordination in 3D Environments," in IEEE Transactions on
Robotics, doi: 10.1109/TRO.2025.3547296.
Paper: https://ieeexplore.ieee.org/document/10912745
Video: https://youtu.be/FOCyGhxazMI?si=qXApkCV14LwxPYnR
Code: https://github.com/ctu-mrs/catora
variety of real-world applications requiring frequent alterations in formation
shape for efficient navigation or task completion. Given the constrained
operational time inherent to battery-powered mobile robots, the time needed to
complete the formation reshaping process is crucial for their efficient
operation. This seminar will present our recent work on time-optimal formation
reshaping for mobile robotic systems. We will introduce a Collision-Aware
Time-Optimal formation Reshaping Algorithm (CAT-ORA) designed to minimize the
time needed for shape adaptations in 3D formations while ensuring inter-agent
collision avoidance. The CAT-ORA builds upon the Hungarian algorithm for the
solution of the robot-to-goal assignment implementing the inter-agent collision
avoidance through direct constraints on mutually exclusive robot-goal pairs
combined with a trajectory generation approach minimizing the duration of the
reshaping process. Our results include theoretical validation, simulations, and
a real-world outdoor experiment with 19 drones, showing up to a 49% reduction
in
the makespan of the formation reshaping process compared to existing methods.
The seminar will be held in a short format of 20 minutes + 10 minutes Q&A.
Reference:
V. Kratky, R. Penicka, J. Horyna, P. Stibinger, T. Baca, M. Petrlik, P. Stepan,
M. Saska, "CAT-ORA: Collision-Aware Time-Optimal Formation Reshaping for
Efficient Robot Coordination in 3D Environments," in IEEE Transactions on
Robotics, doi: 10.1109/TRO.2025.3547296.
Paper: https://ieeexplore.ieee.org/document/10912745
Video: https://youtu.be/FOCyGhxazMI?si=qXApkCV14LwxPYnR
Code: https://github.com/ctu-mrs/catora