A Hybrid Multiagent Collision Avoidance Method for Formation Control

Collision avoidance in formation control is an essential and challenging problem in multiagent filed. Specifically, the agents have to consider both formation maintenance and collision avoidance. However, this problem is not fully considered in existing works. This paper presents a hybrid collision...

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Bibliographic Details
Main Authors: Sui Zezhi, Pu Zhiqiang, Yi Jianqiang, Xiong Tianyi
Format: Other/Unknown Material
Language:English
Published: Springer 2019
Subjects:
Orca
Online Access:http://ir.ia.ac.cn/handle/173211/39698
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record_format openpolar
spelling ftchiacadsccasia:oai:ir.ia.ac.cn:173211/39698 2024-06-23T07:55:58+00:00 A Hybrid Multiagent Collision Avoidance Method for Formation Control Sui Zezhi Pu Zhiqiang Yi Jianqiang Xiong Tianyi 2019-08 http://ir.ia.ac.cn/handle/173211/39698 英语 eng Springer http://ir.ia.ac.cn/handle/173211/39698 会议论文 2019 ftchiacadsccasia 2024-06-04T00:01:37Z Collision avoidance in formation control is an essential and challenging problem in multiagent filed. Specifically, the agents have to consider both formation maintenance and collision avoidance. However, this problem is not fully considered in existing works. This paper presents a hybrid collision avoidance method for formation control. The formation control is designed based on consensus theory while the collision avoidance is achieved by utilizing optimal reciprocal collision avoidance (ORCA). Furthermore, the stability of the multiagent systems is proved. Finally, a simulation demonstrates the effectiveness of the proposed method. Other/Unknown Material Orca Institute of Automation: CASIA OpenIR (Chinese Academy of Sciences)
institution Open Polar
collection Institute of Automation: CASIA OpenIR (Chinese Academy of Sciences)
op_collection_id ftchiacadsccasia
language English
description Collision avoidance in formation control is an essential and challenging problem in multiagent filed. Specifically, the agents have to consider both formation maintenance and collision avoidance. However, this problem is not fully considered in existing works. This paper presents a hybrid collision avoidance method for formation control. The formation control is designed based on consensus theory while the collision avoidance is achieved by utilizing optimal reciprocal collision avoidance (ORCA). Furthermore, the stability of the multiagent systems is proved. Finally, a simulation demonstrates the effectiveness of the proposed method.
format Other/Unknown Material
author Sui Zezhi
Pu Zhiqiang
Yi Jianqiang
Xiong Tianyi
spellingShingle Sui Zezhi
Pu Zhiqiang
Yi Jianqiang
Xiong Tianyi
A Hybrid Multiagent Collision Avoidance Method for Formation Control
author_facet Sui Zezhi
Pu Zhiqiang
Yi Jianqiang
Xiong Tianyi
author_sort Sui Zezhi
title A Hybrid Multiagent Collision Avoidance Method for Formation Control
title_short A Hybrid Multiagent Collision Avoidance Method for Formation Control
title_full A Hybrid Multiagent Collision Avoidance Method for Formation Control
title_fullStr A Hybrid Multiagent Collision Avoidance Method for Formation Control
title_full_unstemmed A Hybrid Multiagent Collision Avoidance Method for Formation Control
title_sort hybrid multiagent collision avoidance method for formation control
publisher Springer
publishDate 2019
url http://ir.ia.ac.cn/handle/173211/39698
genre Orca
genre_facet Orca
op_relation http://ir.ia.ac.cn/handle/173211/39698
_version_ 1802648782046756864

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