Conference proceeding
Decentralized Collision Avoidance with Intermittent Measurement Flow
Proceedings of the IEEE Conference on Decision & Control, pp.8441-8446
12/16/2024
DOI: 10.1109/CDC56724.2024.10885808
Abstract
Collision avoidance is a fundamental aspect of many applications involving autonomous vehicles. Solving this problem becomes especially challenging when the agents involved cannot communicate. In these scenarios, vehicles must rely on on-board sensors to detect and avoid other vehicles or obstacles. However, in many practical applications, sensors have limited range and measurements may be intermittent due to external factors. With this in mind, in this work, we present a novel decentralized collision avoidance algorithm which does not require communication among the agents and has mild assumptions on the sensing capabilities of the vehicles. A feedback control law is designed so that the vehicles can maintain a predefined phase shift among each other and thus are able to avoid collisions. A Lyapunov analysis is performed to provide performance bounds and the efficacy of the proposed method is demonstrated through simulation results.
Details
- Title: Subtitle
- Decentralized Collision Avoidance with Intermittent Measurement Flow
- Creators
- Camilla Tabasso - University of IowaVenanzio Cichella - University of IowaIsaac Kaminer - Naval Postgraduate School
- Resource Type
- Conference proceeding
- Publication Details
- Proceedings of the IEEE Conference on Decision & Control, pp.8441-8446
- Publisher
- IEEE
- DOI
- 10.1109/CDC56724.2024.10885808
- eISSN
- 2576-2370
- Language
- English
- Date published
- 12/16/2024
- Academic Unit
- IIHR--Hydroscience and Engineering; Mechanical Engineering
- Record Identifier
- 9984798363402771
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