Robust multi-agent collision avoidance through scheduling
Author(s)Bruni, Leonardo; Colombo, Alessandro; Del Vecchio, Domitilla
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We propose a class of computationally efficient algorithms for conflict resolution in the presence of modeling and measurement uncertainties. Specifically, we address a scenario where a number of agents, whose dynamics are possibly nonlinear, must cross an intersection avoiding collisions. We obtain an exact solution and an approximate one with quantified error bound whose complexity scales polynomially with the number of agents.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 52nd IEEE Conference on Decision and Control
Institute of Electrical and Electronics Engineers (IEEE)
Bruni, Leonardo, Alessandro Colombo, and Domitilla Del Vecchio. “Robust Multi-Agent Collision Avoidance through Scheduling.” 52nd IEEE Conference on Decision and Control (December 2013).
Author's final manuscript