01284nas a2200157   4500008004100000245009000041210006900131300001400200520068900214653002100903653001300924100001900937700001700956700001500973856013800988       2004                        eng d00aDecentralized Cooperative Conflict Resolution Among Multiple Autonomous Mobile Agents0 aDecentralized Cooperative Conflict Resolution Among Multiple Aut  a4758-47633 a<p>In this paper we consider policies for cooperative, decentralized traffic management among a number of autonomous mobile agents. The conflict resolution problem is addressed considering realistic restrictions on possible maneuvers. We formulate this problem as one in Mixed Integer Linear Programming (MILP). The method, which proves successful in a centralized implementation with a large number of cooperating agents, is also extended to a decentralized setting. Conditions for the existence of conflict avoidance maneuvers for a system of 5 autonomous agents with a transitive information structure are provided, along with the explicit policy to be applied by each agent.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aScordio, V G1 aBicchi, A.  uhttps://www.centropiaggio.unipi.it/publications/decentralized-cooperative-conflict-resolution-among-multiple-autonomous-mobile-agents