Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2410.05793 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866917797533057024 |
|---|---|
| author | Han, Dongkun Huang, Yijun Huang, Hejun Fang, Tianrui |
| author_facet | Han, Dongkun Huang, Yijun Huang, Hejun Fang, Tianrui |
| contents | The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and some specific control objectives, including collision avoidance, connectivity maintenance and convergence to desired destinations. The basic idea is to develop a proper Lyapunov-like barrier function for all tasks and a distributed controller could be built in the presence of misbehaving vehicles. Control protocols are provided for both leader vehicle and follower vehicles. The simulation results demonstrate the effectiveness of proposed method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_05793 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Coordination for Multi-Vehicle Systems in the Presence of Misbehaving Vehicles Han, Dongkun Huang, Yijun Huang, Hejun Fang, Tianrui Systems and Control 93A16 The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and some specific control objectives, including collision avoidance, connectivity maintenance and convergence to desired destinations. The basic idea is to develop a proper Lyapunov-like barrier function for all tasks and a distributed controller could be built in the presence of misbehaving vehicles. Control protocols are provided for both leader vehicle and follower vehicles. The simulation results demonstrate the effectiveness of proposed method. |
| title | Distributed Coordination for Multi-Vehicle Systems in the Presence of Misbehaving Vehicles |
| topic | Systems and Control 93A16 |
| url | https://arxiv.org/abs/2410.05793 |