A differential game approach to multi-agent collision avoidance
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Accepted version
Published version
Author(s)
Mylvaganam, T
Sassano, M
Astolfi, A
Type
Journal Article
Abstract
A multi-agent system consisting of N agents is considered. The problem of steering each agent from its initial position to a desired goal while avoiding collisions with obstacles and other agents is studied. This problem, referred to as the multi-agent collision avoidance problem, is formulated as a differential game. Dynamic feedback strategies that approximate the feedback Nash equilibrium solutions of the differential game are constructed and it is shown that, provided certain assumptions are satisfied, these guarantee that the agents reach their targets while avoiding collisions.
Date Issued
2017-08-01
Date Acceptance
2017-03-02
Citation
IEEE Transactions on Automatic Control, 2017, 62 (8), pp.4229-4235
ISSN
0018-9286
Publisher
Institute of Electrical and Electronics Engineers
Start Page
4229
End Page
4235
Journal / Book Title
IEEE Transactions on Automatic Control
Volume
62
Issue
8
Copyright Statement
This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/
License URL
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Identifier
https://ieeexplore.ieee.org/document/7909033
Grant Number
EP/L014343/1
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Control design
collision avoidance
nonlinear control systems
multi-agent systems
MOBILE SENSOR NETWORKS
COVERAGE CONTROL
NAVIGATION
Industrial Engineering & Automation
0102 Applied Mathematics
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Publication Status
Published
Date Publish Online
2017-04-24