Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes
Abstract
This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown dynamics and bounded disturbance. By employing spatiotemporal tubes to generate time-varying state constraints, we ensure that all agents adhere to RAS specifications using synthesized controllers. To prevent inter-agent collisions, a negotiation mechanism is proposed where successful negotiations result in spatiotemporal tubes for each agent fulfilling desired tasks. This approach results in a completely distributed, approximation-free control law for each agent. The effectiveness of this mechanism was validated through simulations of multi-agent robot navigation and drone navigation tasks involving prescribed-time RAS specifications and collision avoidance.
Cite
@article{arxiv.2503.10245,
title = {Reach-Avoid-Stay-Collision-Avoidance Negotiation Framework for Multi-Agent Systems via Spatiotemporal Tubes},
author = {Mohd. Faizuddin Faruqui and Ratnangshu Das and Ravi Kumar L and Pushpak Jagtap},
journal= {arXiv preprint arXiv:2503.10245},
year = {2025}
}
Comments
Accepted in ECC 2025