2017
DOI: 10.1109/tac.2017.2680602
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A Differential Game Approach to Multi-agent Collision Avoidance

Abstract: 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 which approximate the feedback Nash equilibrium solutions of the differential game are constructed and it is shown that, provided certain assumptions are satisfied, th… Show more

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Cited by 163 publications
(100 citation statements)
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“…An approach similar to potential fields involves using the gradient of a Lyapunov function, which implicitly takes into account the possibility of collisions. Such control laws have been constructed using a differential game approach [127], [128] and simultaneously solve a greedy optimization problem. The difficulty lies in solving the optimal control problem in the presence of nonlinearities and local communication.…”
Section: Collision Avoidance and Collision-free Motionsmentioning
confidence: 99%
“…An approach similar to potential fields involves using the gradient of a Lyapunov function, which implicitly takes into account the possibility of collisions. Such control laws have been constructed using a differential game approach [127], [128] and simultaneously solve a greedy optimization problem. The difficulty lies in solving the optimal control problem in the presence of nonlinearities and local communication.…”
Section: Collision Avoidance and Collision-free Motionsmentioning
confidence: 99%
“…Applications for the developed theory, such as robust and optimal control for robotic systems (see, for example, [5]), will then be considered. It is also of interest to extend the results to general N -player nonzero-sum linear quadratic differential games, which are of interest to many areas of application, such as multi-agent systems [20] and power systems [21]. We are currently working on the general case in which there are N players and the state is described by an n-dimensional vector.…”
Section: Discussionmentioning
confidence: 99%
“…The example is one of multi-agent collision avoidance. In particular, we revisit a scenario with two agents seen in [18] and study it in the distributed setting considered in this paper.…”
Section: Numerical Examplementioning
confidence: 99%
“…In [14]- [16] distributed differential games are considered in the context of multi-agent system coordination. In [17], [18] the multi-agent collision avoidance problem is considered (in a centralised setting) and solved by posing the problem as a nonlinear differential game. Formation flying is considered in [19].…”
Section: Introductionmentioning
confidence: 99%