Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866910868732641280 |
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| author | Roncero, Alejandro Sánchez Muchacho, Rafael I. Cabral Ögren, Petter |
| author_facet | Roncero, Alejandro Sánchez Muchacho, Rafael I. Cabral Ögren, Petter |
| contents | Velocity Obstacles (VO) methods form a paradigm for collision avoidance strategies among moving obstacles and agents. While VO methods perform well in simple multi-agent environments, they don't guarantee safety and can show overly conservative behavior in common situations. In this paper, we propose to combine a VO-strategy for guidance with a CBF-approach for safety, which overcomes the overly conservative behavior of VOs and formally guarantees safety. We validate our method in a baseline comparison study, using 2nd order integrator and car-like dynamics. Results support that our method outperforms the baselines w.r.t. path smoothness, collision avoidance, and success rates. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_10117 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions Roncero, Alejandro Sánchez Muchacho, Rafael I. Cabral Ögren, Petter Robotics Multiagent Systems Velocity Obstacles (VO) methods form a paradigm for collision avoidance strategies among moving obstacles and agents. While VO methods perform well in simple multi-agent environments, they don't guarantee safety and can show overly conservative behavior in common situations. In this paper, we propose to combine a VO-strategy for guidance with a CBF-approach for safety, which overcomes the overly conservative behavior of VOs and formally guarantees safety. We validate our method in a baseline comparison study, using 2nd order integrator and car-like dynamics. Results support that our method outperforms the baselines w.r.t. path smoothness, collision avoidance, and success rates. |
| title | Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2409.10117 |