Table Of ContentSpringer Tracts in Advanced Robotics 150
Yuanzhe Wang
Danwei Wang
Collaborative Fleet
Maneuvering
for Multiple
Autonomous
Vehicle Systems
Springer Tracts in Advanced Robotics
Volume 150
SeriesEditors
BrunoSiciliano,DipartimentodiIngegneriaElettricaeTecnologie
dell’Informazione,UniversitàdegliStudidiNapoliFedericoII,Napoli,Italy
OussamaKhatib,ArtificialIntelligenceLaboratory,DepartmentofComputer
Science,StanfordUniversity,Stanford,CA,USA
AdvisoryEditors
NancyAmato,ComputerScience&Engineering,TexasA&MUniversity,College
Station,TX,USA
OliverBrock,FakultätIV,TUBerlin,Berlin,Germany
HermanBruyninckx,KULeuven,Heverlee,Belgium
WolframBurgard,InstituteofComputerScience,UniversityofFreiburg,Freiburg,
Baden-Württemberg,Germany
RajaChatila,ISIR,Pariscedex05,France
FrancoisChaumette,IRISA/INRIA,Rennes,Ardennes,France
WanKyunChung,RoboticsLaboratory,MechanicalEngineering,POSTECH,
Pohang,Korea(Republicof)
PeterCorke,QueenslandUniversityofTechnology,Brisbane,QLD,Australia
PaoloDario,LEM,ScuolaSuperioreSant’Anna,Pisa,Italy
AlessandroDeLuca,DIAGAR,SapienzaUniversitàdiRoma,Roma,Italy
RüdigerDillmann,HumanoidsandIntelligenceSystemsLab,KIT-Karlsruher
InstitutfürTechnologie,Karlsruhe,Germany
KenGoldberg,UniversityofCalifornia,Berkeley,CA,USA
JohnHollerbach,SchoolofComputing,UniversityofUtah,SaltLake,UT,USA
LydiaE.Kavraki,DepartmentofComputerScience,RiceUniversity,Houston,TX,
USA
VijayKumar,SchoolofEngineeringandAppliedMechanics,Universityof
Pennsylvania,Philadelphia,PA,USA
BradleyJ.Nelson,InstituteofRoboticsandIntelligentSystems,ETHZurich,
Zürich,Switzerland
FrankChongwooPark,MechanicalEngineeringDepartment,SeoulNational
University,Seoul,Korea(Republicof)
S.E.Salcudean,TheUniversityofBritishColumbia,Vancouver,BC,Canada
RolandSiegwart,LEEJ205,ETHZürich,InstituteofRobotics&Autonomous
SystemsLab,Zürich,Switzerland
GauravS.Sukhatme,DepartmentofComputerScience,UniversityofSouthern
California,LosAngeles,CA,USA
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·
Yuanzhe Wang Danwei Wang
Collaborative Fleet
Maneuvering for Multiple
Autonomous Vehicle
Systems
YuanzheWang DanweiWang
NanyangTechnologicalUniversity NanyangTechnologicalUniversity
Singapore,Singapore Singapore,Singapore
ISSN 1610-7438 ISSN 1610-742X (electronic)
SpringerTractsinAdvancedRobotics
ISBN 978-981-19-5797-0 ISBN 978-981-19-5798-7 (eBook)
https://doi.org/10.1007/978-981-19-5798-7
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Singapore
TomywifeXingandourchildren
YingxueandZhiyuan
YuanzheWang
TomywifeMingandourchildren
Anmin,AndaiandAnyu
DanweiWang
Preface
Autonomous vehicle systems have wide applications in industries, such as ware-
housingoperations,last-miledelivery,containerhandling,searchandrescue,hazmat
exploration,andsoon.Fleetmaneuvering,asafundamentalfunctionalityofmultiple
autonomousvehicles,hasbeenextensivelystudiedinthepastdecade,resultingina
largevarietyofmethodologies.Althoughsignificanttheoreticalcontributionshave
been made, most of the existing research is not well motivated or supported by
practicalapplications.Real-worldenvironmentsandtasksmayintroducemorechal-
lengestotheproblem,whichhavenotbeenfullyconsideredintheexistingtheoret-
icalresearch.Moreover,inpractice,wecannotexpectageneralapproach forfleet
maneuvering,whichworksinanyenvironmentsandtasks.Mainreasonsare
(cid:129)
Alocalizationtechnologythatisapplicableinsomeenvironmentsmaynotwork
insomeothers.
(cid:129)
Thefleetconfigurationneedtovarywithenvironmentsandtasks.
(cid:129)
Thesafetystrategydependsonspecificvehiclesetupandworkingenvironment.
Motivated by these, this book discusses existing approaches, analyzes practical
limitations,andintroducesfleetmaneuvering-relatedworkunderaseriesofcommon
tasks and working environments. Furthermore, this book presents implementation
guidelinesforpractitionersinthedevelopmentofmulti-vehiclefleetsystems.
Thisbookintroducesbasicknowledgeandcutting-edgeachievementsinthefield
ofmulti-vehiclefleetmaneuvering.Itpointsoutthatfleetmaneuveringapproaches
are environment- and task-dependent, such that no general solution exists for this
problem. In this book, we propose a collaborative localization-planning-control
frameworkforthemulti-vehiclefleetmaneuveringproblem.Firstly,technicalback-
groundoffleetmaneuveringisreviewedtohelpreadersgetfamiliarwiththisfield,
whichconsistsofpreliminaryknowledgeandexistingtechnologiesontopicsranging
fromvehiclemodel,fleetconfiguration,collaborativelocalization,fleetkeepingand
reconstruction,andcollisionavoidance.Onthisbasis,aseriesofnewdevelopments
on fleet maneuvering are presented for applications in various environments. This
bookservesasafoundationofmulti-vehiclesystems,whichprovidesfundamental
concepts,theories,andtechnicalguidelinesforfleetmaneuvering.Tomakethisbook
vii
viii Preface
more readable and understandable, extensive experimental results are presented to
support the introduced approaches. The material of this book is solely based on
the research work in our group, and our interactions with relevant industries have
motivatedustowritethisbook.
Thisbookisusefulforresearchers,graduatestudents,andengineersinthefield
of robotics and automation, especially for those who are interested in academic
researchorengineeringimplementationsofmulti-vehiclesystems.Moreover,experts
and scholars from the fields of mathematics, instrument engineering, automotive
engineering,andartificialintelligencecanalsogetnewideasfromthisbook.Tofully
understandthecontentsofthisbook,readersshouldhaveapreliminaryknowledgeof
mobilerobotics,stateestimation,andautomaticcontrol.Asaresearchmonograph,
thisbookpresentsfundamentalconcepts,theories,andtechnologiesforlocalization,
motionplanning,andcontrolofmulti-vehiclesystems,whichcanbeareferencebook
for researchers and graduate students from different levels. As a technical guide,
this book provides implementation guidelines, pseudocode, and flow diagrams for
practitionerstodeveloptheirownsystems.
A lot of research work presented in this book has been supported or partially
supported by funding agencies including the National Research Foundation
Singapore under ST Engineering—NTU Corporate Lab through NRF Corporate
Lab@University Scheme, and the Agency for Science, Technology and Research
(A*STAR) under National Robotics Programme with Grant Number 1822200063
and Number W2122d0245. We would like to give our sincere gratitude to them.
Wewouldalsoliketothankthepastandcurrentresearchersandstudentsinourlab,
especiallyDr.MaoShan,Prof.YufengYue,Dr.MingxingWen,Mr.ChunyangZhao,
Mr.YunxiangDai,fortheirhelpintechnicaldiscussionsandfieldexperiments.
Singapore YuanzheWang
June2022 DanweiWang
Contents
1 Introduction ................................................... 1
1.1 Background ............................................... 1
1.1.1 Motivation .......................................... 1
1.1.2 Challenges .......................................... 2
1.2 ObjectivesofThisBook ..................................... 3
1.3 PreviewofChapters ........................................ 4
References ..................................................... 5
2 TechnicalBackground .......................................... 9
2.1 VehicleModel ............................................. 9
2.1.1 UGVModel ......................................... 9
2.1.2 UAVModel ......................................... 12
2.2 FleetConfiguration ......................................... 13
2.2.1 Description ......................................... 13
2.2.2 SeveralCommonConfigurations ....................... 15
2.2.3 OptimalConfiguration ................................ 17
2.3 CollaborativeLocalization ................................... 18
2.3.1 Infrastructure-BasedLocalization ...................... 18
2.3.2 Infrastructure-FreeLocalization ........................ 19
2.4 FleetKeepingandReconstruction ............................. 20
2.4.1 FleetKeeping ....................................... 20
2.4.2 FleetReconstruction .................................. 22
2.4.3 CohesionMaintenance ................................ 22
2.4.4 VisibilityMaintenance ................................ 23
2.5 CollisionAvoidance ........................................ 24
2.5.1 Map-BasedCollisionAvoidance ....................... 24
2.5.2 ReactiveCollisionAvoidance .......................... 24
References ..................................................... 26
ix
x Contents
3 Anchor-Based Flexible Fleet Maneuvering in Open
Environments .................................................. 33
3.1 Introduction ............................................... 33
3.2 ProblemFormulation ....................................... 34
3.2.1 VehicleModel ....................................... 35
3.2.2 FleetConfiguration ................................... 36
3.2.3 ProblemStatement ................................... 37
3.3 Approach ................................................. 37
3.3.1 Anchor-BasedLocalization ............................ 37
3.3.2 FlexibleFleetPlanningandControl ..................... 39
3.3.3 Intra-FleetInformationSharing ........................ 42
3.4 Validation ................................................. 43
3.4.1 ExperimentalSetup .................................. 43
3.4.2 ExperimentalResults ................................. 43
3.5 Conclusions ............................................... 45
References ..................................................... 46
4 Map-BasedVirtual-StructureFleetManeuveringinCluttered
Environments .................................................. 47
4.1 Introduction ............................................... 47
4.2 ProblemFormulation ....................................... 49
4.2.1 VehicleModel ....................................... 49
4.2.2 FleetConfiguration ................................... 50
4.2.3 SystemConstraints ................................... 51
4.2.4 ProblemStatement ................................... 51
4.3 Approach ................................................. 52
4.3.1 Map-BasedLocalization .............................. 52
4.3.2 Multi-objectiveFleetPlanningandControl .............. 52
4.3.3 Intra-FleetInformationSharing ........................ 61
4.4 Validation ................................................. 61
4.4.1 ExperimentalSetup .................................. 61
4.4.2 ExperimentalResults ................................. 63
4.5 Conclusions ............................................... 64
References ..................................................... 64
5 Vision-Based Leader-Follower Queue Maneuvering
inUnknownClutteredEnvironments ............................. 67
5.1 Introduction ............................................... 67
5.2 ProblemFormulation ....................................... 69
5.2.1 VehicleModel ....................................... 70
5.2.2 FleetConfiguration ................................... 70
5.2.3 SystemConstraints ................................... 71
5.2.4 Leader-LossSituation ................................ 72
5.2.5 ProblemStatement ................................... 73
5.3 Approach ................................................. 74
5.3.1 VisionDetectionandFleetKeeping ..................... 74
