This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots map their desired velocities into a corresponding desired change in the formation parameters and apply a consensus step to reach agreement on the desired formation and a constraint satisfaction step to ensure collision avoidance within the formation. The constraint set is found such that the probability of collision remains below an upper bound. The method was demonstrated in a manual teleoperation scenario both in simulation and a real-world experiment.

翻译：本文提出了一种分布式方法，用于机器人在保持刚性编队运动的同时，确保机器人之间实现概率性碰撞避免。编队通过基构型的变换进行参数化描述。机器人将期望速度映射为编队参数的相应期望变化，并采用一致性步骤以就期望编队达成共识，同时通过约束满足步骤确保编队内部的碰撞避免。所构建的约束集使得碰撞概率始终低于预设上界。该方法在仿真和实际实验中通过手动遥操作场景进行了验证。