Decentralized constructive collision avoidance for Multi-Agent dynamical systems

Minh Tri Nguyen (1) , Cristina Stoica Maniu (1) , Sorin Olaru (2, 1)

1 L2S - Laboratoire des signaux et systèmes
2 DISCO - Dynamical Interconnected Systems in COmplex Environments

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.

Domaines: Automatique / Robotique

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⟩