A Hybrid Controller for Multi-Agent Collision Avoidance via a Differential Game Formulation

D. Cappello; S. Garcin; Z. Mao; M. Sassano; A. Paranjape; T. Mylvaganam

doi:10.1109/TCST.2020.3005602

A Hybrid Controller for Multi-Agent Collision Avoidance via a Differential Game Formulation

D. Cappello, S. Garcin, Z. Mao, M. Sassano, A. Paranjape, T. Mylvaganam

Research output: Contribution to journal › Article › Research › peer-review

24 Citations (Scopus)

Abstract

We consider the multi-agent collision avoidance problem for a team of wheeled mobile robots. Recently, a local solution to this problem, based on a game-theoretic formulation, has been provided and validated via numerical simulations. Due to its local nature, the result is not well-suited for online applications. In this article, we propose a novel hybrid implementation of the control inputs that yields a control strategy suited for the online navigation of mobile robots. Moreover, subject to a certain dwell time condition, the resulting trajectories are globally convergent. The control design is demonstrated both via simulations and experiments.

Original language	English
Pages (from-to)	1750-1757
Number of pages	8
Journal	IEEE Transactions on Control Systems Technology
Volume	29
Issue number	4
DOIs	https://doi.org/10.1109/TCST.2020.3005602 https://doi.org/10.1109/TCST.2020.3005602
Publication status	Published - Jul 2021
Externally published	Yes

Keywords

Collision avoidance
hybrid systems
multi-robot systems
nonlinear control
path planning for multiple robots

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AU - Garcin, S.

AU - Mao, Z.

AU - Sassano, M.

AU - Paranjape, A.

AU - Mylvaganam, T.

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A Hybrid Controller for Multi-Agent Collision Avoidance via a Differential Game Formulation

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Keywords

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