Cooperative Obstacle Avoidance
Development of fully distributed multi-agent obstacle avoidance approach utilising camera, LiDAR, and imaging sonar. Validation includes full Gazebo simulation and targeting physical implementation.
Overview
To extend the findings from IBVS project and Virtual Elastic Tether project, the analogy between dog walking and cooperative underwater obstacle avoidance was explored. A novel dog walking paradigm was proposed and implemented in conjunction with the VET in the context of fully distributed underwater obstacle avoidance.
Collaborators
Thank Dr Zhengyi Jiang and his cute Bobi for inspiration.
Note
Preliminary results has been detailed in (Yao et al., 2024). The follow up plan is to implement such paradigm on physical platform.
Dog walking video (Yao et al., 2024)