Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances
Systems and Control
2021-06-11 v3 Multiagent Systems
Abstract
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on semi-cooperative coordination and we redesign the coordination controllers so that the agents counteract a class of state (wind) disturbances and measurement noise. Safety and convergence is proved analytically, while simulation results demonstrate the efficacy of the proposed solution.
Keywords
Cite
@article{arxiv.1709.01586,
title = {Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances},
author = {Kunal Garg and Dongkun Han and Dimitra Panagou},
journal= {arXiv preprint arXiv:1709.01586},
year = {2021}
}
Comments
K. Garg, D. Han and D. Panagou "Robust Semi-Cooperative Multi-Agent Coordination in the Presence of Stochastic Disturbances", 56th IEEE Conf. on Decision and Control, Melbourne, Australia, December 2017