Journal article

Collision Avoidance Based on Robust Lexicographic Task Assignment

Tony A Wood, Mitchell Khoo, Elad Michael, Chris Manzie, Iman Shames

IEEE Robotics and Automation Letters | Institute of Electrical and Electronics Engineers (IEEE) | Published : 2020


Traditional task assignment approaches for multi-agent motion control do not take the possibility of collisions into account. This can lead to challenging requirements for path planning. We derive an assignment method that not only minimises the largest distance between an agent and its assigned destination but also provides local constraints for guaranteed collision avoidance. To this end, we introduce a sequential bottleneck optimisation problem and define a notion of robustness of an optimising assignment to changes of individual assignment costs. Conditioned on a sufficient level of robustness in relation to the size of the agents, we construct time-varying position bounds for every indi..

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Awarded by Defence Science and Technology Group

Funding Acknowledgements

This work was supported by Defence Science and Technology Group through research agreements MyIP:7558, MyIP:7562, and MyIP:9156.