Reciprocal Safety Velocity Cones for Decentralized Collision Avoidance in Multi-Agent Systems

• In this paper, we solve the inter-agent collision avoidance problem in an arbitrary n−dimensional Euclidean space using reciprocal safety velocity cones (RSVCs). We propose a decentralized feedback control strategy that guarantees simultaneously asymptotic stabilization to a reference and collision avoidance. Our algorithm is purely decentralized in the sense that each agent uses only local information about its neighbouring agents. Moreover, the proposed solution can be implemented using only inter-agent bearing measurements. Therefore, the algorithm is a sensor-based control strategy which is practically implementable using a wide range of sensors such as vision systems and range scanners. Simulation results in a two dimensional environment cluttered with agents shows that the number of possible deadlocks is marginal and decrease with the decrease in the clutteredness of the workspace.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Keyword

Collision avoidance

feedback control

motion planning

multi-agent systems

sensor-based methods

Publication and Content Type

ref (subject category)

kon (subject category)