Natural Deadlock Resolution for Multi-agent Multi-Swarm Navigation

Conference Paper

This paper presents a nonlinear and discontinuous control scheme for two-dimensional (2-D) multi-agent multi-swarm navigation that resolves deadlocks, without heuristics, by agents reacting purely to their constrained dynamics. The method is based on extensions of Gauss's Principle of Least Constraint that dynamically identify, incorporate, and stabilize time-varying sets of constraints and that integrate actuator saturation and delay. The deadlocks are naturally resolved by formulating the 2-D leader following and collision avoidance requirements as decomposed inequality constraints along the X and Y axes and by asymmetrically assigning zero collision avoidance constraint value to a specific branch. Numerical results are presented for two agents and two 15-agent swarms resolving nominal deadlocks at a computation time order of 10 microseconds, demonstrating the efficacy and efficiency of the proposed approach.

Full Text

Duke Authors

Cited Authors

  • Zhang, B; Gavin, HP

Published Date

  • January 1, 2021

Published In

Volume / Issue

  • 2021-December /

Start / End Page

  • 5958 - 5963

Electronic International Standard Serial Number (EISSN)

  • 2576-2370

International Standard Serial Number (ISSN)

  • 0743-1546

International Standard Book Number 13 (ISBN-13)

  • 9781665436595

Digital Object Identifier (DOI)

  • 10.1109/CDC45484.2021.9683102

Citation Source

  • Scopus