TitleDecentralized and scalable conflict resolution strategy for multi-agents systems
Publication TypeConference Paper
Year of Publication2006
Conference NameInt. Symp. on Mathematical Theory of Networks and Systems
Publication Languageeng
AuthorsPallottino, L, Scordio, VG, Frazzoli, E, Bicchi, A
KeywordsEmbedded Control, Robotics

A decentralized cooperative collision avoidance control policy for planar vehicle recently proposed is herein considered. Given some simple conditions on initial configurations of agents, the policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles. The method is highly scalable, and effective solutions can be obtained for several tens of autonomous agents. On the other hand, the liveness property of the policy, i.e. the capability of negotiating a solution in finite time, is not yet completely understood. First a 3D workspace extension is proposed. Furthermore, based on a condition on target configuration previously proposed, some general results on the liveness property are reported. Finally, qualitative evaluations on the strategy and on the proposed target sparsity condition are pointed out.

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