A hybrid controller for multi-agent collision avoidance via a differential game formulation

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 application. In this paper 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.