Decentralized cooperative conflict resolution among multiple autonomous mobile agents
- 1 January 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 17 (01912216) , 4758-4763 Vol.5
- https://doi.org/10.1109/cdc.2004.1429542
Abstract
In this paper we consider policies for cooperative, decentralized traffic management among a number of autonomous mobile agents. The conflict resolution problem is addressed considering realistic restrictions on possible maneuvers. We formulate this problem as one in mixed integer linear programming (MILP). The method, which proves successful in a centralized implementation with a large number of cooperating agents, is also extended to a decentralized setting. Conditions for the existence of conflict avoidance maneuvers for a system of 5 autonomous agents with a transitive information structure are provided, along with the explicit policy to be applied by each agent.Keywords
This publication has 15 references indexed in Scilit:
- Asymptotic stabilization of multiple nonholonomic mobile robots forming group formationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Controlling formations of multiple mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- On the optimal conflict resolution for air traffic controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Conflict resolution problems for air traffic management systems solved with mixed integer programmingIEEE Transactions on Intelligent Transportation Systems, 2002
- Closed loop navigation for multiple holonomic vehiclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Resolution of Conflicts Involving Many Aircraft via Semidefinite ProgrammingJournal of Guidance, Control, and Dynamics, 2001
- On optimal cooperative conflict resolution for air traffic management systemsIEEE Transactions on Intelligent Transportation Systems, 2000
- Optimal Strategies for Free-Flight Air Traffic Conflict ResolutionJournal of Guidance, Control, and Dynamics, 1999
- Conflict resolution for air traffic management: a study in multiagent hybrid systemsIEEE Transactions on Automatic Control, 1998
- Decentralized optimal control of Markov chains with a common past information setIEEE Transactions on Automatic Control, 1987