A differential game approach to multi-agent collision avoidance

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Title: A differential game approach to multi-agent collision avoidance
Author(s): Mylvaganam, T
Sassano, M
Astolfi, A
Item 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 which 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.
Publication Date: 24-Apr-2017
Date of Acceptance: 2-Mar-2017
URI: http://hdl.handle.net/10044/1/45417
DOI: https://dx.doi.org/10.1109/TAC.2017.2680602
ISSN: 1558-2523
Publisher: IEEE
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/
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/L014343/1
Keywords: Science & Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Control design
collision avoidance
nonlinear control systems
multi-agent systems
0906 Electrical And Electronic Engineering
0102 Applied Mathematics
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status: Published
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering

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