Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds
Systems and Control
2019-10-14 v1 Systems and Control
Optimization and Control
Abstract
In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The problem consists of finding non-intersecting trajectories between the agent and prescribed obstacles on the workspace, among a set of admissible curves, to reach a specified configuration, based on minimizing an energy functional that depends on the velocity, covariant acceleration and an artificial potential function used to prevent collision with the obstacles and among the agents. We apply the results to examples of a planar rigid body, and collision and obstacle avoidance for agents evolving on a sphere.
Keywords
Cite
@article{arxiv.1910.04995,
title = {Variational collision and obstacle avoidance of multi-agent systems on Riemannian manifolds},
author = {Rama Seshan Chandrasekaran and Leonardo J. Colombo and Margarida Camarinha and Ravi Banavar and Anthony Bloch},
journal= {arXiv preprint arXiv:1910.04995},
year = {2019}
}
Comments
Submitted to European Control Conference 2020