home › event - decentralized cooperative collision avoidance for acceleration constrained vehicles


Decentralized cooperative collision avoidance for acceleration constrained vehicles
Conferences & Talks

IEEE Conference on Decision and Control

9 December 2008 - 11 December 2008
Cancun, Mexico



Safety must be ensured in the deployment of multi-agent vehicle systems. This paper presents decentralized collision avoidance algorithms for systems with second order dynamics and acceleration constraints, using a switching control law. The technique augments existing multi-agent control laws with the capability to switch to provably safe collision avoidance maneuvers when required. Two algorithms with low computational cost are presented, one for two vehicles and one for more vehicles. In both methods, each vehicle computes avoid sets with respect to every other vehicle. When one or more vehicles are on the boundary of their avoid sets, collision avoidance action is taken. These algorithms are applied in simulation scenarios for which existing techniques either fail or are computationally expensive, and used for information theoretic control of a mobile sensor network to reduce the computational complexity. Finally, they are demonstrated in quadrotor helicopter flight experiments.


upcoming events   view all 

The Fourth Transformation: How AR & AI Change Everything
Robert Scoble, Shel Israel
27 April 2017 | George E. Pake Auditorium, PARC
PARC Forum  

Next Frontier of AI
Tolga Kurtoglu
3 May 2017 - 4 May 2017 | Istanbul, Turkey
Conferences & Talks  

Tutorial: Printing 3D Functional Objects and Devices
14 May 2017
Conferences & Talks