2016/03/16 by Somil Bansal, Bansal, Somil, Mo Chen +5
Computer Science · #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Formal Methods in Verification #Multiagent Systems (cs.MA) #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1603.05208
openalex publication_date 2016/03/16 · openalex created_date 2022/10/07 · openalex updated_date 2026/07/28
Multi-UAV systems are safety-critical, and guarantees must be made to ensure\nno unsafe configurations occur. Hamilton-Jacobi (HJ) reachability is ideal for\nanalyzing such safety-critical systems; however, its direct application is\nlimited to small-scale systems of no more than two vehicles due to an\nexponentially-scaling computational complexity. Previously, the sequential path\nplanning (SPP) method, which assigns strict priorities to vehicles, was\nproposed; SPP allows multi-vehicle path planning to be done with a\nlinearly-scaling computational complexity. However, the previous formulation\nassumed that there are no disturbances, and that every vehicle has perfect\nknowledge of higher-priority vehicles' positions. In this paper, we make SPP\nmore practical by providing three different methods to account for disturbances\nin dynamics and imperfect knowledge of higher-priority vehicles' states. Each\nmethod has different assumptions about information sharing. We demonstrate our\nproposed methods in simulations.\n