Journal article
Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions
Robotics (Basel), Vol.10(1), pp.34-23
02/13/2021
DOI: 10.3390/robotics10010034
Abstract
In recent years, the increasing popularity of multi-vehicle missions has been accompanied by a growing interest in the development of control strategies to ensure safety in these scenarios. In this work, we propose a control framework for coordination and collision avoidance in cooperative multi-vehicle missions based on a speed adjustment approach. The overall problem is decoupled in a coordination problem, in order to ensure coordination and inter-vehicle safety among the agents, and a collision-avoidance problem to guarantee the avoidance of non-cooperative moving obstacles. We model the network over which the cooperative vehicles communicate using tools from graph theory, and take communication losses and time delays into account. Finally, through a rigorous Lyapunov analysis, we provide performance bounds and demonstrate the efficacy of the algorithms with numerical and experimental results.
Details
- Title: Subtitle
- Time Coordination and Collision Avoidance Using Leader-Follower Strategies in Multi-Vehicle Missions
- Creators
- Camilla Tabasso - University of IowaVenanzio Cichella - University of IowaSyed Bilal MehdiThiago MarinhoNaira Hovakimyan - Mechanical Science and Engineering
- Resource Type
- Journal article
- Publication Details
- Robotics (Basel), Vol.10(1), pp.34-23
- DOI
- 10.3390/robotics10010034
- ISSN
- 2218-6581
- eISSN
- 2218-6581
- Language
- English
- Date published
- 02/13/2021
- Academic Unit
- IIHR--Hydroscience and Engineering; Mechanical Engineering
- Record Identifier
- 9984196621402771
Metrics
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