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Projection-Based Inter-Agent Collision Avoidance in Dual Agent Systems

Authors:
Vinod Gehlot
Mark Balas
Saptarshi Bandyopadhyay
Marco Quadrelli
David Bayard

Keywords: Inter-agent collision avoidance, Collision mitigation, Multi-agent systems, Swarms, Interconnected systems, Motion plan- ning, Projection operator

Abstract:
Inter-agent collisions can occur in otherwise dynamically-stable (i.e., Lyapunov stable) dual-agent leader- follower systems. These inter-agent collisions between the leader and the follower happen during the transient phase of the system’s evolution, although the steady-state behavior of the system is asymptotically/exponentially stable. Therefore, to avoid such inter-agent collisions, it is essential to control the relative error trajectory between the leader and the follower during the transient phase of the system’s evolution. In this paper, we introduce a novel projection operator based model- reference control architecture that can mitigate impending inter-agent collisions by modifying the transient dynamics of relative trajectories. This controller augments the follower’s baseline controller and consists of two essential components: a collision-free reference model based on the projection operator and a model reference tracking controller to guide the follower to follow the reference-model. This paper defines the concept of transient-instability in leader-follower systems, introduces collision mitigation controller architecture, and presents an illustrative example demonstrating its effectiveness.

Pages: 72 to 77

Copyright: Copyright (c) IARIA, 2020

Publication date: September 27, 2020

Published in: conference

ISSN: 2308-3913

ISBN: 978-1-61208-787-0

Location: Lisbon, Portugal

Dates: from September 27, 2020 to October 1, 2020