Modeling and Analysis of Multi-agent Coordination Using Nearest Neighbor Rules
CAR '09 Proceedings of the 2009 International Asia Conference on Informatics in Control, Automation and Robotics
Intelligent neuro-controller for navigation of mobile robot
Proceedings of the International Conference on Advances in Computing, Communication and Control
Formal Verification of Curved Flight Collision Avoidance Maneuvers: A Case Study
FM '09 Proceedings of the 2nd World Congress on Formal Methods
Distributed hybrid control for multiple-pursuer multiple-evader games
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Modelling an emergency vehicle early-warning system using real-time feedback
International Journal of Intelligent Information and Database Systems
Quantified differential invariants
Proceedings of the 14th international conference on Hybrid systems: computation and control
Consensus in networked multi-agent systems with adversaries
Proceedings of the 14th international conference on Hybrid systems: computation and control
Survey paper: Research on probabilistic methods for control system design
Automatica (Journal of IFAC)
Safe distributed motion coordination for second-order systems with different planning cycles
International Journal of Robotics Research
Lazy auctions for multi-robot collision avoidance and motion control under uncertainty
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Distributed reactive collision avoidance
Autonomous Robots
Collision free cooperative navigation of multiple wheeled robots in unknown cluttered environments
Robotics and Autonomous Systems
The increasing cost tree search for optimal multi-agent pathfinding
Artificial Intelligence
Formal verification of distributed aircraft controllers
Proceedings of the 16th international conference on Hybrid systems: computation and control
A distributed protocol for motion coordination in free-range vehicular systems
Automatica (Journal of IFAC)
4D trajectory planning in ATM with an anytime stochastic approach
Proceedings of the 3rd International Conference on Application and Theory of Automation in Command and Control Systems
Time-aware relational abstractions for hybrid systems
Proceedings of the Eleventh ACM International Conference on Embedded Software
Journal of Intelligent and Robotic Systems
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In this paper, we propose a novel policy for steering multiple vehicles between assigned start and goal configurations, ensuring collision avoidance. The policy rests on the assumption that all agents are cooperating by implementing the same traffic rules. However, the policy is completely decentralized, as each agent decides its own motion by applying those rules only on the locally available information, and scalable, in the sense that the amount of information processed by each agent and the computational complexity of the algorithms do not increase with the number of agents in the scenario. The proposed policy applies to systems in which new vehicles may enter the scene and start interacting with existing ones at any time, while others may leave. Under mild conditions on the initial configurations, the policy is shown to be safe, i.e., it guarantees collision avoidance throughout the system evolution. In the paper, conditions are discussed on the desired configurations of agents, under which the ultimate convergence of all vehicles to their goals can also be guaranteed. To show that such conditions are actually necessary and sufficient, which turns out to be a challenging liveness-verification problem for a complex hybrid automaton, we employ a probabilistic verification method. The paper finally presents and discusses simulations for systems of several tens of vehicles, and reports on some experimental implementation showing the practicality of the approach.