A Differential Game Approach to Multi-agent Collision Avoidance | Zendy

Thulasi Mylvaganam | Zendy; Mario Sassano | Zendy; Alessandro Astolfi | Zendy

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A Differential Game Approach to Multi-agent Collision Avoidance

Author(s) -

Thulasi Mylvaganam,

Mario Sassano,

Alessandro Astolfi

Publication year - 2017

Publication title -

ieee transactions on automatic control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 3.436

H-Index - 294

eISSN - 1558-2523

pISSN - 0018-9286

DOI - 10.1109/tac.2017.2680602

Subject(s) - signal processing and analysis

A multi-agent system consisting of N agents is considered. The problem of steering each agent from its initial position to a desired goal while avoiding collisions with obstacles and other agents is studied. This problem, referred to as the multi-agent collision avoidance problem, is formulated as a differential game. Dynamic feedback strategies that approximate the feedback Nash equilibrium solutions of the differential game are constructed and it is shown that, provided certain assumptions are satisfied, these guarantee that the agents reach their targets while avoiding collisions.

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