Optimal formation switching with collision avoidance and allowing variable agent velocities

• Type: Article in International Scientific Journal
• Date: 2012

Authors

fontes, dbmm (Author) Other; fontes, facc (Author) FEUP; caldeira, acd (Author) Other

Journal

Title: Springer Proceedings in Mathematics and Statistics

Vol. 3

Pages: 207-224

ISSN: 2194-1009

Publisher: Springer Nature

Indexing

ISI Web of Knowledge

Scopus - 1 Citation

Other information

Authenticus ID: P-009-3BT

DOI: 10.1007/978-1-4614-3906-6_11

Abstract (EN): We address the problem of dynamically switching the geometry of a formation of a number of undistinguishable agents. Given the current and the final desired geometries, there are several possible allocations between the initial and final positions of the agents as well as several combinations for each agent velocity. However, not all are of interest since collision avoidance is enforced. Collision avoidance is guaranteed through an appropriate choice of agent paths and agent velocities. Therefore, given the agent set of possible velocities and initial positions, we wish to find their final positions and traveling velocities such that agent trajectories are apart, by a specified value, at all times. Among all the possibilities we are interested in choosing the one that minimizes a predefined performance criteria, e.g. minimizes the maximum time required by all agents to reach the final geometry. We propose here a dynamic programming approach to solve optimally such problems. © Springer Science+Business Media New York 2012.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 18