scholarly journals Motion Coordination Problems with Collision Avoidance for Multi-Agent Systems

2017 ◽  
Author(s):  
Jesús Santiaguillo-Salinas ◽  
Eduardo Aranda-Bricaire
Keyword(s):  
Collision Avoidance ◽  
Multi Agent Systems ◽  
Motion Coordination ◽  
Coordination Problems ◽  
Agent Systems ◽  
Multi Agent

scholarly journals Velocity Obstacle Approaches for Multi-Agent Collision Avoidance

2019 ◽  
Vol 07 (01) ◽  
pp. 55-64 ◽  
Author(s):  
James A. Douthwaite ◽  
Shiyu Zhao ◽  
Lyudmila S. Mihaylova
Keyword(s):  
Collision Avoidance ◽  
Critical Analysis ◽  
Monte Carlo Analysis ◽  
The Other ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Velocity Obstacle ◽  
Scalable Computation ◽  
Avoidance Problem

This paper presents a critical analysis of some of the most promising approaches to geometric collision avoidance in multi-agent systems, namely, the velocity obstacle (VO), reciprocal velocity obstacle (RVO), hybrid-reciprocal velocity obstacle (HRVO) and optimal reciprocal collision avoidance (ORCA) approaches. Each approach is evaluated with respect to increasing agent populations and variable sensing assumptions. In implementing the localized avoidance problem, the author notes a problem of symmetry not considered in the literature. An intensive 1000-cycle Monte Carlo analysis is used to assess the performance of the selected algorithms in the presented conditions. The ORCA method is shown to yield the most scalable computation times and collision likelihood in the presented cases. The HRVO method is shown to be superior than the other methods in dealing with obstacle trajectory uncertainty for the purposes of collision avoidance. The respective features and limitations of each algorithm are discussed and presented through examples.

Adaptive leader-following formation control with collision avoidance for a class of second-order nonlinear multi-agent systems

2019 ◽  
Vol 350 ◽  
pp. 282-290 ◽  
Author(s):  
Quan Shi ◽  
Tieshan Li ◽  
Jingqi Li ◽  
C.L. Philip Chen ◽  
Yang Xiao ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Second Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

scholarly journals Achieving Coordination in Multi-Agent Systems by Stable Local Conventions under Community Networks

2017 ◽  
Author(s):  
Shuyue Hu ◽  
Ho-fung Leung
Keyword(s):  
Experimental Study ◽  
Community Networks ◽  
Multi Agent Systems ◽  
Coordination Problems ◽  
Social Conventions ◽  
Agent Systems ◽  
Multi Agent

Recently, the study of social conventions has attracted much attention in the literature. We notice that a type of interesting phenomena, local convention phenomena, may also exist in certain multi-agent systems. When agents are partitioned into compact communities, different local conventions emerge in different communities. In this paper, we provide a definition for local conventions, and propose two metrics measuring their strength and diversity. In our experimental study, we show that agents can achieve coordination via establishing diverse stable local conventions, which indicates a practical way to solve coordination problems other than the traditional global convention emergence. Moreover, we find that with smaller community sizes, denser connections and fewer available actions, diverse local conventions emerge in shorter time.

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