Skip to Main content Skip to Navigation
Conference papers

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 optimization-based 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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [20 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01390087
Contributor : Cristina Stoica Maniu <>
Submitted on : Monday, March 16, 2020 - 11:46:53 AM
Last modification on : Wednesday, September 16, 2020 - 5:35:28 PM
Long-term archiving on: : Wednesday, June 17, 2020 - 1:05:01 PM

File

draft ecc.pdf
Files produced by the author(s)

Identifiers

Citation

Minh Tri Nguyen, Cristina Stoica Maniu, Sorin Olaru. Decentralized constructive collision avoidance for Multi-Agent dynamical systems. 15th European Control Conference (ECC 2016), Jun 2016, Aalborg, Denmark. pp.1526-1531, ⟨10.1109/ecc.2016.7810507⟩. ⟨hal-01390087⟩

Share

Metrics

Record views

554

Files downloads

234