Avoiding the local-minimum problem in multi-agent systems with limited sensing and communication

Makiko Okamoto and Maruthi R. Akella

International Journal of Systems Science, 2016, vol. 47, issue 8, 1943-1952

Abstract: In this paper, we consider a control problem for nonholonomic multi-agent systems in which agents and obstacles operate within a circular-shaped work area. We assume that agents only have limited sensing and communication ranges. We propose a novel control scheme using potential functions that drives agents from the initial to the goal configuration while avoiding collision with other agents, obstacles, and the boundary of the work area. The control scheme employs an avoidance strategy that ensures that the agents are never trapped at local minima that are typically encountered with most potential function-based approaches. A numerical simulation is presented to demonstrate the validity and effectiveness of the proposed control scheme.

Date: 2016
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DOI: 10.1080/00207721.2014.965239

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