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Natural Deadlock Resolution for Multi-agent Multi-Swarm Navigation

Publication ,  Conference
Zhang, B; Gavin, HP
Published in: Proceedings of the IEEE Conference on Decision and Control
January 1, 2021

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.

Duke Scholars

Published In

Proceedings of the IEEE Conference on Decision and Control

DOI

EISSN

2576-2370

ISSN

0743-1546

ISBN

9781665436595

Publication Date

January 1, 2021

Volume

2021-December

Start / End Page

5958 / 5963
 

Citation

APA
Chicago
ICMJE
MLA
NLM
Zhang, B., & Gavin, H. P. (2021). Natural Deadlock Resolution for Multi-agent Multi-Swarm Navigation. In Proceedings of the IEEE Conference on Decision and Control (Vol. 2021-December, pp. 5958–5963). https://doi.org/10.1109/CDC45484.2021.9683102
Zhang, B., and H. P. Gavin. “Natural Deadlock Resolution for Multi-agent Multi-Swarm Navigation.” In Proceedings of the IEEE Conference on Decision and Control, 2021-December:5958–63, 2021. https://doi.org/10.1109/CDC45484.2021.9683102.
Zhang B, Gavin HP. Natural Deadlock Resolution for Multi-agent Multi-Swarm Navigation. In: Proceedings of the IEEE Conference on Decision and Control. 2021. p. 5958–63.
Zhang, B., and H. P. Gavin. “Natural Deadlock Resolution for Multi-agent Multi-Swarm Navigation.” Proceedings of the IEEE Conference on Decision and Control, vol. 2021-December, 2021, pp. 5958–63. Scopus, doi:10.1109/CDC45484.2021.9683102.
Zhang B, Gavin HP. Natural Deadlock Resolution for Multi-agent Multi-Swarm Navigation. Proceedings of the IEEE Conference on Decision and Control. 2021. p. 5958–5963.

Published In

Proceedings of the IEEE Conference on Decision and Control

DOI

EISSN

2576-2370

ISSN

0743-1546

ISBN

9781665436595

Publication Date

January 1, 2021

Volume

2021-December

Start / End Page

5958 / 5963