A Hybrid Framework for Multi-Vehicle Collision Avoidance

arXiv1703.07375MaRDI QIDQ6284650FDOQ6284650

Authors: Aparna Dhinakaran, Mo Chen, Glen Chou, Jennifer C. Shih, Claire Tomlin 

Publication date: 21 March 2017

Abstract: With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ) reachability has successfully provided these guarantees to small-scale systems and is flexible in terms of system dynamics. However, the exponential complexity scaling of HJ reachability with respect to system dimension prevents its direct application to larger-scale problems where the number of vehicles is greater than two. In this paper, we propose a collision avoidance algorithm using a hybrid framework for N+1 vehicles through higher-level control logic given any N-vehicle collision avoidance algorithm. Our algorithm conservatively approximates a guaranteed-safe region in the joint state space of the N+1 vehicles and produces a safety-preserving controller. In addition, our algorithm does not incur significant additional computation cost. We demonstrate our proposed method in simulation.

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