A Differential Game Approach to Multi-agent Collision Avoidance

Collision Avoidance Algorithms: Multi-agent Approach

The paper deals with the methods for detection and avoidance of collisions of autonomously moving vehicles utilizing the principles and techniques of multi-agent systems. Three different scenarios are discussed: (i) movement of AGVs in 2D space with fixed trajectories, (ii) movement of autonomous robots in an open 2D space and (iii) collision-free flights of unmanned aerial vehicles. For each c...

Game-Theoretic Approach with Cost Manipulation to Vehicular Collision Avoidance

A New Approach to Forward Collision Avoidance

Forward collision occurs most frequently and involves the largest number of fatalities among various types of collisions in traffic accidents. Active research has been carried out to develop systems to avoid or mitigate forward collision. These systems are effective in reducing the number and the severity of occupant injuries, however, there is still margin for improvement, especially for reduc...

Optimal Reciprocal Collision Avoidance for Multi-Agent Navigation

In this paper, we present a formal approach to reciprocal n-body collision avoidance, where multiple mobile robots need to avoid collisions with each other while moving in a common workspace. In our formulation, each robot acts fully independently, and does not communicate with other robots. Based on the definition of velocity obstacles [5], we derive sufficient conditions for collision-free mo...

Robust anticipatory stigmergic collision avoidance in multi-agent systems

Anticipatory Stigmergic Collision Avoidance (ASCA) is a reciprocal collision avoidance model in which agents interact by indicating intended future paths to other agents in their local environment. Other agents can then incorporate that information to guide their path planning decisions. Additionally, constraints such as restricted movements and noise are incorporated. Our evaluation showed tha...