Multi-Agent Navigation using Convex Lifting on Dynamic Environment - Archive ouverte HAL
Communication Dans Un Congrès Année : 2024

Multi-Agent Navigation using Convex Lifting on Dynamic Environment

Résumé

This paper revisits the conventional convex lifting method for space partition in static topologies by adding a series of guarantees for obstacle avoidance in the framework of multi-agent navigation strategies. Further, the present work proposes a new methodology that adapts the convex lifting method in such a dynamic environment. To complete the developments towards navigation, the paper introduces a Model Predictive Control method for trajectory planning and navigation for an agent and presents examples of integrator-like multi-agent systems in a cluttered environment prioritizing the safety and control objectives of each agent.
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Dates et versions

hal-04701406 , version 1 (18-09-2024)

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Identifiants

  • HAL Id : hal-04701406 , version 1

Citer

Turan Konyalıoğlu, Sorin Olaru, Silviu-Iulian Niculescu, Iris Ballesteros-Tolosana, Carlos Flores. Multi-Agent Navigation using Convex Lifting on Dynamic Environment. 4th Modeling, Estimation and Control Conference, MECC 2024, Oct 2024, Chicago, United States. ⟨hal-04701406⟩
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