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Distributed reactive collision avoidance

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Abstract

The work contained in this paper concerns a novel approach to the n-vehicle collision avoidance problem. The vehicle model used here allows for three-dimensional movement and represents a wide range of vehicles. The algorithm works in conjunction with any desired controller to guarantee all vehicles remain free of collisions while attempting to follow their desired control. This algorithm is reactive and distributed, making it well suited for real time applications, and explicitly accounts for actuation limits. A robustness analysis is presented which provides a means to account for delays and unmodeled dynamics. Robustness to an adversarial vehicle is also presented. Results are demonstrated in simulation.

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Authors and Affiliations

  1. Moiré Inc., 1180 NW Maple St., Issaquah, WA, 98027, USA

    Emmett Lalish

  2. Department of Aeronautics and Astronautics, University of Washington, Box 352400, Seattle, WA, 98195-2400, USA

    Kristi A. Morgansen

Authors
  1. Emmett Lalish
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  2. Kristi A. Morgansen
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Correspondence to Emmett Lalish.

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Lalish, E., Morgansen, K.A. Distributed reactive collision avoidance. Auton Robot 32, 207–226 (2012). https://doi.org/10.1007/s10514-011-9267-7

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  • DOI: https://doi.org/10.1007/s10514-011-9267-7

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