Minimal Switching Time of Agent Formations with Collision Avoidance

Dalila B. M. M. Fontes () and Fernando A. C. C. Fontes ()
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Dalila B. M. M. Fontes: Universidade do Porto
Fernando A. C. C. Fontes: Universidade do Porto

Chapter Chapter 16 in Dynamics of Information Systems, 2010, pp 305-321 from Springer

Abstract: Summary We address the problem of dynamically switching the topology of a formation of a number of undistinguishable agents. Given the current and the final topologies, each with n agents, there are n! possible allocations between the initial and final positions of the agents. Given the agents maximum velocities, there is still a degree of freedom in the trajectories that might be used in order to avoid collisions. We seek an allocation and corresponding agent trajectories minimizing the maximum time required by all agents to reach the final topology, avoiding collisions. Collision avoidance is guaranteed through an appropriate choice of trajectories, which might have consequences in the choice of an optimal permutation. We propose here a dynamic programming approach to optimally solve problems of small dimension. We report computational results for problems involving formations with up to 12 agents.

Keywords: Mobile Robot; Model Predictive Control; Collision Avoidance; Recursive Function; Dynamic Programming Approach (search for similar items in EconPapers)
Date: 2010
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Persistent link: https://EconPapers.repec.org/RePEc:spr:spochp:978-1-4419-5689-7_16

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DOI: 10.1007/978-1-4419-5689-7_16

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