01456nas a2200157   4500008004100000245008500041210006900126520086800195653002101063653001301084100001901097700001701116700001601133700001501149856013401164       2006                        eng d00aDecentralized and scalable conflict resolution strategy for multi-agents systems0 aDecentralized and scalable conflict resolution strategy for mult3 a<p>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.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aScordio, V G1 aFrazzoli, E1 aBicchi, A.  uhttps://www.centropiaggio.unipi.it/publications/decentralized-and-scalable-conflict-resolution-strategy-multi-agents-systems.html