Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance
Multiagent Systems
2022-08-04 v1
Abstract
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for multi-agent systems without collisions. First, the problem of finite-time motion planning of multi-agent systems is formulated. Then, a novel finite-time distributed controller is developed based on a Lyapunov barrier function. Finally, numerical simulations demonstrate the effectiveness of proposed method.
Cite
@article{arxiv.2208.02020,
title = {Finite-time Motion Planning of Multi-agent Systems with Collision Avoidance},
author = {Yilei Jiang and Dongkun Han},
journal= {arXiv preprint arXiv:2208.02020},
year = {2022}
}