Intent- and Fault-based Trajectory Prediction for Cooperative Localization and Collision Avoidance in Swarms

Isabella Torres and Grace Gao

Abstract:	Autonomous multi-agent systems similar to NASA’s CADRE mission could substantially improve the efficiency of robotic exploration on other planets. However, communication challenges pose a large risk to two main capabilities: collision avoidance and active collaborative localization. This work expands on Reachability-based Trajectory Design (RTD), intent prediction, and fault-based planning to develop an approach that improves the robustness of these capabilities under communication loss scenarios. This approach is then validated on turtlebots simulated in Gazebo.
Published in:	Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023) September 11 - 15, 2023 Hyatt Regency Denver Denver, Colorado
Pages:	3096 - 3103
Cite this article:	Torres, Isabella, Gao, Grace, "Intent- and Fault-based Trajectory Prediction for Cooperative Localization and Collision Avoidance in Swarms," Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023), Denver, Colorado, September 2023, pp. 3096-3103. https://doi.org/10.33012/2023.19470
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