Decentralized Hybrid Control for Multi-Agent Motion Planning and Coordination in Polygonal Environments*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Sutorius, Mason; Panagou, Dimitra
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 6977
• Page End: 6982
• Publication Date: 2017-07
• Subjects: Autonomous Mobile Robots -- Decentralized Control -- Systems -- Multi-vehicle systems -- Trajectory -- Path Planning -- Autonomous Vehicles; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1339
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a decentralized hybrid control scheme for the motion planning and coordination of teams of mobile agents in known obstacle environments with both convex and non-convex obstacles. A mathematical analysis using tools from switched systems theory is carried out to establish the convergence of the system trajectories under certain modeling assumptions on the surrounding environment. The design resolves a class of deadlock situations arising in earlier work, and allows for a wider class of obstacles (both convex and non-convex) to be considered in the environment. Simulation results demonstrate the efficacy of the algorithm.