Decentralized constructive collision avoidance for multi-agent dynamical systems

Abstract

This paper describes the principles of a decentralized framework for the guaranteed collision avoidance of Multi-Agent dynamical systems sharing a common working space. The results are constructive and can be effective in the certification of mission safety. The geometric aspects of the collision avoidance problem are exploited to define the control policies. The main contributions are related to the optimizationbased decentralized feedback control which renders a so-called functioning zone controlled invariant. An illustrative example is analyzed in order to highlight the effectiveness of the proposed approaches.

Optimization-based control for Multi-Agent deployment via dynamic Voronoi partition

“…Recent results have been reported on the application of set-theoretic methods for Multi-Agent system (MAS) control, related to consensus Barthélemy and Janowitz (1991), collision avoidance Khatib (1986), Nguyen et al (2016a) formation safety due to the exclusion of the faulty agent or the admission of new/recovered agents Nguyen et al (2015), Rosich et al (2014) etc. The MAS formation can have a polyhedral description Prodan (2012) or an implicit setbased form where the inter-distance between the agents is constant Nersesov et al (2010), Rucco et al (2015).…”