Consensus of self-driven agents with avoidance of collisions

Abstract

In recent years, many efforts have been addressed on collision avoidance of collectively moving agents. In this paper, we propose a modified version of the Vicsek model with adaptive speed, which can guarantee the absence of collisions. However, this strategy leads to an aggregated state with slowly moving agents. We therefore further add a certain repulsion, which results in both faster consensus and longer safe distance among agents, and thus provides a powerful mechanism for collective motions in biological and technological multiagent systems.

Angle restriction enhances synchronization of self-propelled objects

“…A surprisingly simple but useful model, proposed by Vicsek et al [19], shows the existence of phase transition in a self-propelled objects (SPO) system. More recently, various specialized models have been proposed to describe, e.g., accelerating convergence [20], avoiding collision [21,22], and enhancing the efficiency of convergence [23]. Also, other properties of SPO such as coherence [24] and collective intelligence [25] were studied.…”

Path planning for multiple spacecraft using consensus with LMI avoidance constraints

“…One general drawback of potential function algorithms is that of local minima. Also, it is observed in [12] that any repulsions based on potential functions alone are not sufficient to guarantee consensus based collision avoidance.…”

“…For the algorithm to be practically useful, collision avoidance is necessary. Many researchers have tried to handle the avoidance problem by introducing potential forces such as attraction and repulsion; see for example §I in [12] for a list of references. As an example, a potential function based avoidance algorithm was proposed in [13] for collision free flocking.…”

Global Synchronization of Moving Agent Networks with Time-varying Topological Structure

“…The model arises from the interaction of mobile agents proposed by Frasca et al [15], and can be widely used to explore various practical problems, e.g., clock synchronization in mobile robots [16], synchronized bulk oscillations [17], and task coordination of swarming animals [18]. We adopt the constraint of fast switching to derive synchronization conditions.…”