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Path following with collision avoidance and velocity constraints for multi-agent group formations

Abstract : This paper deals with avoidance constraints while following an optimal trajectory for a group of agents operating in open space. The basic idea is to use the Model Predictive Control (MPC) technique to solve a real time optimization problem over a finite time horizon. Following a specified trajectory, the agents move in the same direction and eventually they end up in a particular formation. Combining the optimization-based control study with the ability of MPC to handle convex and non-convex constraints allows a thorough analysis of the motion control of a group of agents with linear dynamics subject to state constraints. Avoidance constraints are also added to the optimization problem when the agents are operating in an environment with obstacles. A flat trajectory is planned in the physical open space allowing the agents to maneuver successfully in such a dynamic environment and to reach a common objective.
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  • HAL Id : hal-00593091, version 1


Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu. Path following with collision avoidance and velocity constraints for multi-agent group formations. Annals of the University of Craiova Physics AUC , Department of Physics, University of Craiova, 2010, 7(34) (2), pp.33-38. ⟨hal-00593091⟩



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