Introduction To Automata Theory, Languages, And Computation
Introduction To Automata Theory, Languages, And Computation
Flow-through policies for hybrid controller synthesis applied to fully actuated systems
IEEE Transactions on Robotics
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Decentralized Cooperative Policy for Conflict Resolution in Multivehicle Systems
IEEE Transactions on Robotics
A review of conflict detection and resolution modeling methods
IEEE Transactions on Intelligent Transportation Systems
On optimal cooperative conflict resolution for air traffic management systems
IEEE Transactions on Intelligent Transportation Systems
A feedback stabilization and collision avoidance scheme for multiple independent non-point agents
Automatica (Journal of IFAC)
Conflict Resolution in Free-Ranging Multivehicle Systems: A Resource Allocation Paradigm
IEEE Transactions on Robotics
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This work extends our research on motion coordination of free-range vehicular systems based on concepts and results borrowed from resource allocation systems (RAS) theory, to vehicular systems with limited communication range among the vehicles. Similar to the earlier work, the employed model assumes the tessellation of the motion plane into cells, which are allocated to the traveling vehicles in a controlled manner that ensures collision-free and live motion. On the other hand, the limited communication range of the vehicles implies that full synchronization of their access to the considered cells is not possible any more, and yields new challenges for the deployed supervisory control policies. To enable the development of supervisory policies capable of providing the necessary partial synchronization of the cell allocation, we modify the structure of the adopted tessellation by allowing the concurrent occupation of a cell by up to two vehicles at a time, instead of only one, that was assumed earlier. This modification renders polynomially computable the relevant maximally permissive cell allocation policy, and it enables the implementation of this policy in the form of a distributed protocol that is feasible in the context of the communication constraints that are considered in this work.