Robust multi-agent collision avoidance through scheduling
Author(s)
Bruni, Leonardo; Colombo, Alessandro; Del Vecchio, Domitilla
DownloadDel Vecchio_Robust multi-agent.pdf (1.107Mb)
OPEN_ACCESS_POLICY
Open Access Policy
Creative Commons Attribution-Noncommercial-Share Alike
Terms of use
Metadata
Show full item recordAbstract
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.
Date issued
2013-12Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringJournal
Proceedings of the 52nd IEEE Conference on Decision and Control
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Bruni, Leonardo, Alessandro Colombo, and Domitilla Del Vecchio. “Robust Multi-Agent Collision Avoidance through Scheduling.” 52nd IEEE Conference on Decision and Control (December 2013).
Version: Author's final manuscript
ISBN
978-1-4673-5717-3
978-1-4673-5714-2
978-1-4799-1381-7
ISSN
0743-1546