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

EVENT:

Decentralized cooperative collision avoidance for acceleration constrained vehicles
Conferences & Talks

IEEE Conference on Decision and Control

9 December 2008 - 11 December 2008
Cancun, Mexico

 

description

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 

What is the Future of Cybersecurity?
Alissa Johnson
26 September 2017 | George E. Pake Auditorium, PARC
PARC Forum  

Bringing Reliable (and Transparent) AI to Business (Keynote)
Tolga Kurtoglu, Keynote Presenter
28 September 2017 | Santa Clara, CA
Conferences & Talks  

AI’s Impact on Industry (Keynote Power Panel)
Tolga Kurtoglu, Moderator
28 September 2017 | Santa Clara, CA
Conferences & Talks